carl_moveit.cpp File Reference

#include <carl_moveit/carl_moveit.h>
#include <carl_moveit/eigen_pinv.hpp>

Include dependency graph for carl_moveit.cpp:

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Functions
int	main (int argc, char **argv)
static double	nearest_equivalent (double desired, double current)
static double	simplify_angle (double angle)

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 595 of file carl_moveit.cpp.

static double nearest_equivalent	(	double	desired,
		double	current
	)		[inline, static]

Calculates nearest desired angle to the current angle

Parameters:

desired	desired joint angle [-pi, pi]
current	current angle (-inf, inf)

Returns:

the closest equivalent angle (-inf, inf)

Definition at line 79 of file carl_moveit.cpp.

static double simplify_angle

(

double

angle

)

[inline, static]

Adjust angle to equivalent angle on [-pi, pi]

Parameters:

angle

the angle to be simplified (-inf, inf)

Returns:

the simplified angle on [-pi, pi]

Definition at line 64 of file carl_moveit.cpp.