Public Member Functions | Private Attributes
WholeBodyCalc Class Reference

performs the successive nullspace calculations for the whole body framework More...

#include <WholeBodyCalc.h>

List of all members.

Public Member Functions

Eigen::MatrixXd calcPinv (const Eigen::MatrixXd &in)
const KDL::JntArray & project (const KDL::JntArray &torques, const TreeChain &tc)
 project torques through the current nullspace, add the nullspace of tc for the next call
const KDL::JntArray & project (const KDL::JntArray &torques)
 project torques through the current nullspace but leave the nullspace the same
void reset ()
 WholeBodyCalc ()
 WholeBodyCalc (const KDL::Tree &tree)

Private Attributes

Eigen::MatrixXd I
Eigen::MatrixXd Jsum
Eigen::MatrixXd N
KDL::JntArray result
int tree_size

Detailed Description

performs the successive nullspace calculations for the whole body framework

Definition at line 37 of file WholeBodyCalc.h.


Constructor & Destructor Documentation

Definition at line 46 of file WholeBodyCalc.h.

WholeBodyCalc::WholeBodyCalc ( const KDL::Tree tree) [inline]

Definition at line 47 of file WholeBodyCalc.h.


Member Function Documentation

Eigen::MatrixXd WholeBodyCalc::calcPinv ( const Eigen::MatrixXd &  in)

Definition at line 46 of file r2_impedance_controller.cpp.

const KDL::JntArray& WholeBodyCalc::project ( const KDL::JntArray &  torques,
const TreeChain tc 
) [inline]

project torques through the current nullspace, add the nullspace of tc for the next call

Definition at line 64 of file WholeBodyCalc.h.

const KDL::JntArray& WholeBodyCalc::project ( const KDL::JntArray &  torques) [inline]

project torques through the current nullspace but leave the nullspace the same

Definition at line 74 of file WholeBodyCalc.h.

void WholeBodyCalc::reset ( ) [inline]

Definition at line 58 of file WholeBodyCalc.h.


Member Data Documentation

Eigen::MatrixXd WholeBodyCalc::I [private]

Definition at line 39 of file WholeBodyCalc.h.

Eigen::MatrixXd WholeBodyCalc::Jsum [private]

Definition at line 38 of file WholeBodyCalc.h.

Eigen::MatrixXd WholeBodyCalc::N [private]

Definition at line 40 of file WholeBodyCalc.h.

KDL::JntArray WholeBodyCalc::result [private]

Definition at line 41 of file WholeBodyCalc.h.

int WholeBodyCalc::tree_size [private]

Definition at line 43 of file WholeBodyCalc.h.


The documentation for this class was generated from the following files:


r2_controllers_gazebo
Author(s): Stephen Hart
autogenerated on Mon Oct 6 2014 02:48:44