#include <manipulator_h_kinematics_dynamics.h>
Public Member Functions | |
Eigen::MatrixXd | calcCOM (Eigen::MatrixXd MC) |
Eigen::MatrixXd | calcJacobian (std::vector< int > idx) |
Eigen::MatrixXd | calcJacobianCOM (std::vector< int > idx) |
Eigen::MatrixXd | calcMC (int joint_ID) |
Eigen::MatrixXd | calcVWerr (Eigen::MatrixXd tar_position, Eigen::MatrixXd curr_position, Eigen::MatrixXd tar_orientation, Eigen::MatrixXd curr_orientation) |
std::vector< int > | findRoute (int to) |
std::vector< int > | findRoute (int from, int to) |
void | forwardKinematics (int joint_ID) |
bool | inverseKinematics (int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err) |
bool | inverseKinematics (int from, int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err) |
ManipulatorKinematicsDynamics () | |
ManipulatorKinematicsDynamics (TreeSelect tree) | |
double | totalMass (int joint_ID) |
~ManipulatorKinematicsDynamics () | |
Public Attributes | |
LinkData * | manipulator_link_data_ [ALL_JOINT_ID+1] |
Definition at line 33 of file manipulator_h_kinematics_dynamics.h.
robotis_manipulator_h::ManipulatorKinematicsDynamics::ManipulatorKinematicsDynamics | ( | ) |
Definition at line 30 of file manipulator_h_kinematics_dynamics.cpp.
robotis_manipulator_h::ManipulatorKinematicsDynamics::ManipulatorKinematicsDynamics | ( | TreeSelect | tree | ) |
Definition at line 37 of file manipulator_h_kinematics_dynamics.cpp.
robotis_manipulator_h::ManipulatorKinematicsDynamics::~ManipulatorKinematicsDynamics | ( | ) |
Definition at line 33 of file manipulator_h_kinematics_dynamics.cpp.
Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcCOM | ( | Eigen::MatrixXd | MC | ) |
Definition at line 211 of file manipulator_h_kinematics_dynamics.cpp.
Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcJacobian | ( | std::vector< int > | idx | ) |
Definition at line 253 of file manipulator_h_kinematics_dynamics.cpp.
Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcJacobianCOM | ( | std::vector< int > | idx | ) |
Definition at line 275 of file manipulator_h_kinematics_dynamics.cpp.
Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcMC | ( | int | joint_ID | ) |
Definition at line 195 of file manipulator_h_kinematics_dynamics.cpp.
Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcVWerr | ( | Eigen::MatrixXd | tar_position, |
Eigen::MatrixXd | curr_position, | ||
Eigen::MatrixXd | tar_orientation, | ||
Eigen::MatrixXd | curr_orientation | ||
) |
Definition at line 298 of file manipulator_h_kinematics_dynamics.cpp.
std::vector< int > robotis_manipulator_h::ManipulatorKinematicsDynamics::findRoute | ( | int | to | ) |
Definition at line 142 of file manipulator_h_kinematics_dynamics.cpp.
std::vector< int > robotis_manipulator_h::ManipulatorKinematicsDynamics::findRoute | ( | int | from, |
int | to | ||
) |
Definition at line 162 of file manipulator_h_kinematics_dynamics.cpp.
void robotis_manipulator_h::ManipulatorKinematicsDynamics::forwardKinematics | ( | int | joint_ID | ) |
Definition at line 223 of file manipulator_h_kinematics_dynamics.cpp.
bool robotis_manipulator_h::ManipulatorKinematicsDynamics::inverseKinematics | ( | int | to, |
Eigen::MatrixXd | tar_position, | ||
Eigen::MatrixXd | tar_orientation, | ||
int | max_iter, | ||
double | ik_err | ||
) |
Definition at line 312 of file manipulator_h_kinematics_dynamics.cpp.
bool robotis_manipulator_h::ManipulatorKinematicsDynamics::inverseKinematics | ( | int | from, |
int | to, | ||
Eigen::MatrixXd | tar_position, | ||
Eigen::MatrixXd | tar_orientation, | ||
int | max_iter, | ||
double | ik_err | ||
) |
Definition at line 377 of file manipulator_h_kinematics_dynamics.cpp.
double robotis_manipulator_h::ManipulatorKinematicsDynamics::totalMass | ( | int | joint_ID | ) |
Definition at line 182 of file manipulator_h_kinematics_dynamics.cpp.
LinkData* robotis_manipulator_h::ManipulatorKinematicsDynamics::manipulator_link_data_[ALL_JOINT_ID+1] |
Definition at line 40 of file manipulator_h_kinematics_dynamics.h.