Classes | |
| class | URKinematicsPlugin |
| Specific implementation of kinematics using KDL. This version can be used with any robot. More... | |
Typedefs | |
| typedef std::pair< int, double > | idx_double |
Functions | |
| bool | comparator (const idx_double &l, const idx_double &r) |
| void | forward (const double *q, double *T) |
| void | forward_all (const double *q, double *T1, double *T2, double *T3, double *T4, double *T5, double *T6) |
| int | inverse (const double *T, double *q_sols, double q6_des=0.0) |
| typedef std::pair<int, double> ur_kinematics::idx_double |
Definition at line 554 of file ur_moveit_plugin.cpp.
| bool ur_kinematics::comparator | ( | const idx_double & | l, |
| const idx_double & | r | ||
| ) |
Definition at line 555 of file ur_moveit_plugin.cpp.
| void ur_kinematics::forward | ( | const double * | q, |
| double * | T | ||
| ) |
Definition at line 47 of file ur_kin.cpp.
| void ur_kinematics::forward_all | ( | const double * | q, |
| double * | T1, | ||
| double * | T2, | ||
| double * | T3, | ||
| double * | T4, | ||
| double * | T5, | ||
| double * | T6 | ||
| ) |
Definition at line 79 of file ur_kin.cpp.
| int ur_kinematics::inverse | ( | const double * | T, |
| double * | q_sols, | ||
| double | q6_des = 0.0 |
||
| ) |
Definition at line 205 of file ur_kin.cpp.