Function pfield::J_to_q

• Defined in File geofik.h

Function Documentation

array<double, 7> pfield::J_to_q(const array<array<double, 6>, 7> &J, const array<array<double, 3>, 3> &R, const char ee = 'E')

Computes the joint angles given a Jacobian and the rotation matrix of the ee frame.

Parameters:

• J – transpose of J.

• R – the rotation matrix of ee frame with respect to frame O.

• ee – [optional] name of ee frame (‘E’, ‘F’ or ‘8’).

Returns:

joint angles q.