Struct CircleEvaluation
Defined in File robot.hpp
Struct Documentation
-
struct CircleEvaluation
Holds the result of one “loop” of Step 2 -> Step 3 -> Step 4 of Abbes and Poisson (2024). See Figure 5.
Public Functions
-
explicit CircleEvaluation(const double q, const Eigen::Isometry3d &T_R0_tool, const double r4, const double r5, const double r6, const double a3, const Eigen::Vector3d &O5)
Constructor.
- Parameters:
q – The sample variable q ∈ [0, 2*pi] that defines this candidate O4 on the circle (and remaining quantities that follow from this placement)
T_R0_tool – The desired or pose, i.e. the input to IK
r4 – The length of the forearm
r5 – The horizontal offset between the forearm and the flange
r6 – The distance between joint 5 and the flange
a3 – The length of the lower arm
O5 – The position of joint 5
-
explicit CircleEvaluation(const double q, const Eigen::Isometry3d &T_R0_tool, const double r4, const double r5, const double r6, const double a3, const Eigen::Vector3d &O5)