Public Member Functions
void	clearJointLimits ()

Eigen::Vector3d	FK3Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &positions) const

void	FK5Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Vector3d &tip_axis) const

void	FK6Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Matrix3d &orientation) const

void	setJointLimits (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &min_positions, const Eigen::VectorXd &max_positions)

Eigen::VectorXd	solveIK3Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz) const

Eigen::VectorXd	solveIK5Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Vector3d &end_tip) const

Eigen::VectorXd	solveIK6Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Matrix3d &orientation) const

Detailed Description

Definition at line 13 of file kinematics_helper.hpp.

Member Function Documentation

void hebi::experimental::arm::internal::KinematicsHelper::clearJointLimits ( )

Definition at line 38 of file kinematics_helper.cpp.

Eigen::Vector3d hebi::experimental::arm::internal::KinematicsHelper::FK3Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	positions
	)		const

Definition at line 126 of file kinematics_helper.cpp.

void hebi::experimental::arm::internal::KinematicsHelper::FK5Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	positions,
		Eigen::Vector3d &	xyz_out,
		Eigen::Vector3d &	tip_axis
	)		const

Definition at line 135 of file kinematics_helper.cpp.

void hebi::experimental::arm::internal::KinematicsHelper::FK6Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	positions,
		Eigen::Vector3d &	xyz_out,
		Eigen::Matrix3d &	orientation
	)		const

Definition at line 147 of file kinematics_helper.cpp.

void hebi::experimental::arm::internal::KinematicsHelper::setJointLimits	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	min_positions,
		const Eigen::VectorXd &	max_positions
	)

Definition at line 8 of file kinematics_helper.cpp.

Eigen::VectorXd hebi::experimental::arm::internal::KinematicsHelper::solveIK3Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	initial_positions,
		const Eigen::Vector3d &	target_xyz
	)		const

Definition at line 45 of file kinematics_helper.cpp.

Eigen::VectorXd hebi::experimental::arm::internal::KinematicsHelper::solveIK5Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	initial_positions,
		const Eigen::Vector3d &	target_xyz,
		const Eigen::Vector3d &	end_tip
	)		const

Definition at line 70 of file kinematics_helper.cpp.

Eigen::VectorXd hebi::experimental::arm::internal::KinematicsHelper::solveIK6Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	initial_positions,
		const Eigen::Vector3d &	target_xyz,
		const Eigen::Matrix3d &	orientation
	)		const

Definition at line 98 of file kinematics_helper.cpp.

Eigen::VectorXd hebi::experimental::arm::internal::KinematicsHelper::max_positions_ {}

private

Definition at line 59 of file kinematics_helper.hpp.

Eigen::VectorXd hebi::experimental::arm::internal::KinematicsHelper::min_positions_ {}

private

Definition at line 58 of file kinematics_helper.hpp.

bool hebi::experimental::arm::internal::KinematicsHelper::use_joint_limits_ {}

private

Definition at line 57 of file kinematics_helper.hpp.

The documentation for this class was generated from the following files: