Classes | |
| struct | Parameters |
Typedefs | |
| template<typename T > | |
| using | Transform = Eigen::Transform< T, 3, Eigen::Isometry > |
Functions | |
| template<typename T > | |
| DEPRECATED ("UN-TESTED") Parameters< T > makeFanucR2000iB_200R() | |
| template<typename T > | |
| Transform< T > | forward (const Parameters< T > &p, const T *qs) noexcept |
| Computes the tool pose of the robot described by when said robot has the joint positions given by qs, a 6 element array of type T. More... | |
| template<typename T > | |
| void | harmonizeTowardZero (T *qs) |
| template<typename T > | |
| void | inverse (const Parameters< T > ¶ms, const Transform< T > &pose, T *out) noexcept |
| Computes up to 8 kinematically unique joint solutions that put the tool flange of the robot described by params at the pose given by pose. Results are stored in out, a 6x8 array of T. See out's description for more details. More... | |
| template<typename T > | |
| bool | isValid (const T *qs) |
| template<typename T > | |
| Parameters< T > | makeIrb2400_10 () |
| template<typename T > | |
| Parameters< T > | makeKukaKR6_R700_sixx () |
| template<typename T > | |
| std::ostream & | operator<< (std::ostream &os, const Parameters< T > ¶ms) |
| using opw_kinematics::Transform = typedef Eigen::Transform<T, 3, Eigen::Isometry> |
Typedef equivalent to Eigen::Isometry3d for T = double and Eigen::Isometry3f for T = float.
Definition at line 15 of file opw_kinematics.h.
| opw_kinematics::DEPRECATED | ( | "UN-TESTED" | ) |
Definition at line 29 of file opw_parameters_examples.h.
|
noexcept |
Computes the tool pose of the robot described by when said robot has the joint positions given by qs, a 6 element array of type T.
| p | The robot for which you want to solve forward kinematics. |
| qs | The joint pose of the robot which you want to know the tool pose of. |
|
inline |
Definition at line 17 of file opw_utilities.h.
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noexcept |
Computes up to 8 kinematically unique joint solutions that put the tool flange of the robot described by params at the pose given by pose. Results are stored in out, a 6x8 array of T. See out's description for more details.
| pose | The pose of the tool flange for which you want joint solutions for |
| params | The robot for which you want to solve. |
| out | A pointer to an array of 48 elements (6x8). Values 0-5 will have the joint values of the first solution, 6-11 will have the second and so on. ALL 8 SOLUTIONS ARE ALWAYS WRITTEN, EVEN IF THEY CONTAIN NANS. You must check in a subsequent call if you have a solution. The plus side is that the first solution should be from the same configuraton each time. |
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inline |
Definition at line 10 of file opw_utilities.h.
| Parameters<T> opw_kinematics::makeIrb2400_10 | ( | ) |
Definition at line 12 of file opw_parameters_examples.h.
| Parameters<T> opw_kinematics::makeKukaKR6_R700_sixx | ( | ) |
Definition at line 47 of file opw_parameters_examples.h.
| std::ostream& opw_kinematics::operator<< | ( | std::ostream & | os, |
| const Parameters< T > & | params | ||
| ) |