Class KinematicsInterfacePinocchio

Defined in File kinematics_interface_pinocchio.hpp

Inheritance Relationships

Base Type

public kinematics_interface::KinematicsInterface

Class Documentation

class KinematicsInterfacePinocchio : public kinematics_interface::KinematicsInterface

Public Functions

bool initialize(std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface, const std::string &end_effector_name) override

bool convert_cartesian_deltas_to_joint_deltas(const Eigen::VectorXd &joint_pos, const Eigen::Matrix<double, 6, 1> &delta_x, const std::string &link_name, Eigen::VectorXd &delta_theta) override

bool convert_joint_deltas_to_cartesian_deltas(const Eigen::VectorXd &joint_pos, const Eigen::VectorXd &delta_theta, const std::string &link_name, Eigen::Matrix<double, 6, 1> &delta_x) override

bool calculate_link_transform(const Eigen::VectorXd &joint_pos, const std::string &link_name, Eigen::Isometry3d &transform) override

bool calculate_jacobian(const Eigen::VectorXd &joint_pos, const std::string &link_name, Eigen::Matrix<double, 6, Eigen::Dynamic> &jacobian) override