opw_kinematics.h File Reference

#include <Eigen/Dense>
#include "opw_kinematics/opw_parameters.h"
#include "opw_kinematics/opw_kinematics_impl.h"

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Namespaces
	opw_kinematics

Typedefs
template<typename T >
using	opw_kinematics::Transform = Eigen::Transform< T, 3, Eigen::Isometry >

Functions
template<typename T >
Transform< T >	opw_kinematics::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	opw_kinematics::inverse (const Parameters< T > &params, 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...