Public Member Functions | Private Types | Private Member Functions | Private Attributes
r2_gaze_controller::R2GazeIK Class Reference

#include <r2_gaze_ik.hpp>

List of all members.

Public Member Functions

int computeSolution (const Eigen::VectorXd &q_act, const KDL::Frame &desired_frame, Eigen::VectorXd &q)
int computeSolution (const KDL::JntArray &q_act, const KDL::Frame &desired_frame, KDL::JntArray &q)
 R2GazeIK (const KDL::Chain &chain)
void setWeightMatrix (const Eigen::VectorXd &w)
void setWeightMatrix (const Eigen::MatrixXd &W)
 ~R2GazeIK ()

Private Types

typedef Eigen::DiagonalMatrix
< double, Eigen::Dynamic > 
DiagMatrix
typedef Eigen::MatrixXd Jacobian

Private Member Functions

double computeDelta (const Eigen::VectorXd &q, const KDL::Frame &desired_frame, Eigen::VectorXd &del_q)

Private Attributes

KDL::Chain chain
Eigen::VectorXd del_q
double dt
Eigen::Vector3d e
KDL::ChainFkSolverPos_recursive fk
KDL::Jacobian J_kdl
Jacobian J_partial
KDL::ChainJntToJacSolver jacobian_solver
Jacobian Jw
Jacobian Jwt
Jacobian Jwt_inv
int maxSolverAttempts
int N
Eigen::Vector3d p
Eigen::Vector3d p_d
DiagMatrix Q
KDL::JntArray q_kdl
Eigen::VectorXd q_local
DiagMatrix Qinv

Detailed Description

Definition at line 15 of file r2_gaze_ik.hpp.


Member Typedef Documentation

typedef Eigen::DiagonalMatrix<double,Eigen::Dynamic> r2_gaze_controller::R2GazeIK::DiagMatrix [private]

Definition at line 17 of file r2_gaze_ik.hpp.

typedef Eigen::MatrixXd r2_gaze_controller::R2GazeIK::Jacobian [private]

Definition at line 18 of file r2_gaze_ik.hpp.


Constructor & Destructor Documentation

Definition at line 97 of file r2_gaze_ik.cpp.

Definition at line 118 of file r2_gaze_ik.cpp.


Member Function Documentation

double r2_gaze_controller::R2GazeIK::computeDelta ( const Eigen::VectorXd &  q,
const KDL::Frame desired_frame,
Eigen::VectorXd &  del_q 
) [private]

Definition at line 134 of file r2_gaze_ik.cpp.

int r2_gaze_controller::R2GazeIK::computeSolution ( const Eigen::VectorXd &  q_act,
const KDL::Frame desired_frame,
Eigen::VectorXd &  q 
)

Definition at line 177 of file r2_gaze_ik.cpp.

int r2_gaze_controller::R2GazeIK::computeSolution ( const KDL::JntArray &  q_act,
const KDL::Frame desired_frame,
KDL::JntArray &  q 
)

Definition at line 169 of file r2_gaze_ik.cpp.

void r2_gaze_controller::R2GazeIK::setWeightMatrix ( const Eigen::VectorXd &  w)

Definition at line 123 of file r2_gaze_ik.cpp.

void r2_gaze_controller::R2GazeIK::setWeightMatrix ( const Eigen::MatrixXd &  W)

Definition at line 128 of file r2_gaze_ik.cpp.


Member Data Documentation

Definition at line 34 of file r2_gaze_ik.hpp.

Eigen::VectorXd r2_gaze_controller::R2GazeIK::del_q [private]

Definition at line 52 of file r2_gaze_ik.hpp.

Definition at line 47 of file r2_gaze_ik.hpp.

Eigen::Vector3d r2_gaze_controller::R2GazeIK::e [private]

Definition at line 50 of file r2_gaze_ik.hpp.

Definition at line 35 of file r2_gaze_ik.hpp.

Definition at line 54 of file r2_gaze_ik.hpp.

Definition at line 51 of file r2_gaze_ik.hpp.

Definition at line 36 of file r2_gaze_ik.hpp.

Definition at line 51 of file r2_gaze_ik.hpp.

Definition at line 51 of file r2_gaze_ik.hpp.

Definition at line 51 of file r2_gaze_ik.hpp.

Definition at line 46 of file r2_gaze_ik.hpp.

Definition at line 39 of file r2_gaze_ik.hpp.

Eigen::Vector3d r2_gaze_controller::R2GazeIK::p [private]

Definition at line 50 of file r2_gaze_ik.hpp.

Eigen::Vector3d r2_gaze_controller::R2GazeIK::p_d [private]

Definition at line 50 of file r2_gaze_ik.hpp.

Definition at line 42 of file r2_gaze_ik.hpp.

KDL::JntArray r2_gaze_controller::R2GazeIK::q_kdl [private]

Definition at line 53 of file r2_gaze_ik.hpp.

Eigen::VectorXd r2_gaze_controller::R2GazeIK::q_local [private]

Definition at line 52 of file r2_gaze_ik.hpp.

Definition at line 43 of file r2_gaze_ik.hpp.


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