Functions | |
void | linkage_transform (const std::vector< double > &joints_in, std::vector< double > *joints_out, double J23_factor=0) |
Corrects for parallel linkage coupling between joints. | |
void | linkage_transform (const trajectory_msgs::JointTrajectoryPoint &pt_in, trajectory_msgs::JointTrajectoryPoint *pt_out, double J23_factor=0) |
Corrects for parallel linkage coupling between joints. |
void abb::utils::linkage_transform | ( | const std::vector< double > & | joints_in, |
std::vector< double > * | joints_out, | ||
double | J23_factor = 0 |
||
) |
Corrects for parallel linkage coupling between joints.
[in] | joints_in | input joint angles |
[out] | joints_out | output joint angles |
[in] | J23_factor | Linkage factor for J2-J3. J3_out = J3_in + j23_factor * J2_in |
Definition at line 47 of file abb_utils.cpp.
void abb::utils::linkage_transform | ( | const trajectory_msgs::JointTrajectoryPoint & | pt_in, |
trajectory_msgs::JointTrajectoryPoint * | pt_out, | ||
double | J23_factor = 0 |
||
) |
Corrects for parallel linkage coupling between joints.
[in] | pt_in | input joint trajectory point |
[out] | pt_out | output joint trajectory point |
[in] | J23_factor | Linkage factor for J2-J3. J3_out = J3_in + j23_factor * J2_in |
Definition at line 41 of file abb_utils.cpp.