Function pfield::franka_fk

• Defined in File geofik.h

Function Documentation

Eigen::Matrix4d pfield::franka_fk(const array<double, 7> &q, const char ee = 'E')

Forward kinematics.

Parameters:

• q – joint angles,

• ee – name of ee frame (‘E’, ‘F’, ‘8’, …,’1’).

Returns:

transformation matrix of ee frame with respect to frame O.