#include <jt_cartesian_controller.h>
Public Types | |
typedef Eigen::Matrix< double, 6, Joints > | Jacobian |
typedef Eigen::Matrix< double, Joints, 1 > | JointVec |
Public Member Functions | |
void | fk (const JointVec &q, Eigen::Affine3d &x) |
void | jac (const JointVec &q, Jacobian &J) |
Kin (const KDL::Chain &kdl_chain) | |
~Kin () | |
Public Attributes | |
KDL::ChainFkSolverPos_recursive | fk_solver_ |
KDL::ChainJntToJacSolver | jac_solver_ |
KDL::Jacobian | kdl_J |
KDL::JntArray | kdl_q |
Definition at line 66 of file jt_cartesian_controller.h.
typedef Eigen::Matrix<double, 6, Joints> controller::Kin< Joints >::Jacobian |
Definition at line 69 of file jt_cartesian_controller.h.
typedef Eigen::Matrix<double, Joints, 1> controller::Kin< Joints >::JointVec |
Definition at line 68 of file jt_cartesian_controller.h.
controller::Kin< Joints >::Kin | ( | const KDL::Chain & | kdl_chain | ) | [inline] |
Definition at line 71 of file jt_cartesian_controller.h.
controller::Kin< Joints >::~Kin | ( | ) | [inline] |
Definition at line 76 of file jt_cartesian_controller.h.
void controller::Kin< Joints >::fk | ( | const JointVec & | q, |
Eigen::Affine3d & | x | ||
) | [inline] |
Definition at line 80 of file jt_cartesian_controller.h.
void controller::Kin< Joints >::jac | ( | const JointVec & | q, |
Jacobian & | J | ||
) | [inline] |
Definition at line 87 of file jt_cartesian_controller.h.
KDL::ChainFkSolverPos_recursive controller::Kin< Joints >::fk_solver_ |
Definition at line 94 of file jt_cartesian_controller.h.
KDL::ChainJntToJacSolver controller::Kin< Joints >::jac_solver_ |
Definition at line 95 of file jt_cartesian_controller.h.
KDL::Jacobian controller::Kin< Joints >::kdl_J |
Definition at line 97 of file jt_cartesian_controller.h.
KDL::JntArray controller::Kin< Joints >::kdl_q |
Definition at line 96 of file jt_cartesian_controller.h.