Constraint to specify cartesian goal position in tool frame (XYZ rotation) More...
#include <tool_position.h>
Public Member Functions | |
| virtual Eigen::VectorXd | calcError () |
| Vector to get from current position to goal position Resolve into primary vectors (x,y,z) of tool coordinate system Each element is multiplied by corresponding element in weight_. | |
| virtual Eigen::MatrixXd | calcJacobian () |
| Jacobian is the first three rows of standard jacobian expressed in tool frame coordinates. Each row is scaled by the corresponding element of weight_. | |
| ToolPosition () | |
| virtual | ~ToolPosition () |
Detailed Description
Constraint to specify cartesian goal position in tool frame (XYZ rotation)
Definition at line 34 of file tool_position.h.
Constructor & Destructor Documentation
Definition at line 31 of file tool_position.cpp.
| virtual constrained_ik::constraints::ToolPosition::~ToolPosition | ( | ) | [inline, virtual] |
Definition at line 38 of file tool_position.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::ToolPosition::calcError | ( | ) | [virtual] |
Vector to get from current position to goal position Resolve into primary vectors (x,y,z) of tool coordinate system Each element is multiplied by corresponding element in weight_.
- Returns:
- Vector from current to goal expressed in tool frame, scaled by weight_
Reimplemented from constrained_ik::constraints::GoalPosition.
Definition at line 35 of file tool_position.cpp.
| Eigen::MatrixXd constrained_ik::constraints::ToolPosition::calcJacobian | ( | ) | [virtual] |
Jacobian is the first three rows of standard jacobian expressed in tool frame coordinates. Each row is scaled by the corresponding element of weight_.
- Returns:
- First 3 rows of standard jacobian expressed in tool frame, scaled by weight_
Reimplemented from constrained_ik::constraints::GoalPosition.
Definition at line 45 of file tool_position.cpp.
The documentation for this class was generated from the following files: