OP3Kinematics Class Reference

#include <op3_kdl.h>

Public Member Functions
void	finalize ()
void	initialize (Eigen::MatrixXd pelvis_position, Eigen::MatrixXd pelvis_orientation)
	OP3Kinematics ()
void	setJointPosition (Eigen::VectorXd rleg_joint_position, Eigen::VectorXd lleg_joint_position)
void	solveForwardKinematics (std::vector< double_t > &rleg_position, std::vector< double_t > &rleg_orientation, std::vector< double_t > &lleg_position, std::vector< double_t > &lleg_orientation)
bool	solveInverseKinematics (std::vector< double_t > &rleg_output, Eigen::MatrixXd rleg_target_position, Eigen::Quaterniond rleg_target_orientation, std::vector< double_t > &lleg_output, Eigen::MatrixXd lleg_target_position, Eigen::Quaterniond lleg_target_orientation)
virtual	~OP3Kinematics ()

Protected Attributes
KDL::ChainDynParam *	lleg_dyn_param_ = NULL
KDL::ChainFkSolverPos_recursive *	lleg_fk_solver_
KDL::ChainFkSolverPos_recursive *	lleg_ft_fk_solver_
geometry_msgs::Pose	lleg_ft_pose_
KDL::ChainIkSolverPos_NR_JL *	lleg_ik_pos_solver_
KDL::ChainIkSolverVel_pinv *	lleg_ik_vel_solver_
KDL::ChainJntToJacSolver *	lleg_jacobian_solver_
Eigen::VectorXd	lleg_joint_position_
geometry_msgs::Pose	lleg_pose_
KDL::ChainDynParam *	rleg_dyn_param_ = NULL
KDL::ChainFkSolverPos_recursive *	rleg_fk_solver_
KDL::ChainFkSolverPos_recursive *	rleg_ft_fk_solver_
geometry_msgs::Pose	rleg_ft_pose_
KDL::ChainIkSolverPos_NR_JL *	rleg_ik_pos_solver_
KDL::ChainIkSolverVel_pinv *	rleg_ik_vel_solver_
KDL::ChainJntToJacSolver *	rleg_jacobian_solver_
Eigen::VectorXd	rleg_joint_position_
geometry_msgs::Pose	rleg_pose_

Detailed Description

Definition at line 47 of file op3_kdl.h.

Constructor & Destructor Documentation

OP3Kinematics::OP3Kinematics

(

)

Definition at line 22 of file op3_kdl.cpp.

OP3Kinematics::~OP3Kinematics ( )

virtual

Definition at line 30 of file op3_kdl.cpp.

Member Function Documentation

void OP3Kinematics::finalize

(

)

Definition at line 416 of file op3_kdl.cpp.

void OP3Kinematics::initialize	(	Eigen::MatrixXd	pelvis_position,
		Eigen::MatrixXd	pelvis_orientation
	)

Definition at line 35 of file op3_kdl.cpp.

void OP3Kinematics::setJointPosition	(	Eigen::VectorXd	rleg_joint_position,
		Eigen::VectorXd	lleg_joint_position
	)

Definition at line 271 of file op3_kdl.cpp.

void OP3Kinematics::solveForwardKinematics	(	std::vector< double_t > &	rleg_position,
		std::vector< double_t > &	rleg_orientation,
		std::vector< double_t > &	lleg_position,
		std::vector< double_t > &	lleg_orientation
	)

Definition at line 283 of file op3_kdl.cpp.

bool OP3Kinematics::solveInverseKinematics	(	std::vector< double_t > &	rleg_output,
		Eigen::MatrixXd	rleg_target_position,
		Eigen::Quaterniond	rleg_target_orientation,
		std::vector< double_t > &	lleg_output,
		Eigen::MatrixXd	lleg_target_position,
		Eigen::Quaterniond	lleg_target_orientation
	)

Definition at line 345 of file op3_kdl.cpp.

Member Data Documentation

KDL::ChainDynParam* OP3Kinematics::lleg_dyn_param_ = NULL

protected

Definition at line 73 of file op3_kdl.h.

KDL::ChainFkSolverPos_recursive* OP3Kinematics::lleg_fk_solver_

protected

Definition at line 75 of file op3_kdl.h.

KDL::ChainFkSolverPos_recursive* OP3Kinematics::lleg_ft_fk_solver_

protected

Definition at line 80 of file op3_kdl.h.

geometry_msgs::Pose OP3Kinematics::lleg_ft_pose_

protected

Definition at line 84 of file op3_kdl.h.

KDL::ChainIkSolverPos_NR_JL* OP3Kinematics::lleg_ik_pos_solver_

protected

Definition at line 77 of file op3_kdl.h.

KDL::ChainIkSolverVel_pinv* OP3Kinematics::lleg_ik_vel_solver_

protected

Definition at line 76 of file op3_kdl.h.

KDL::ChainJntToJacSolver* OP3Kinematics::lleg_jacobian_solver_

protected

Definition at line 74 of file op3_kdl.h.

Eigen::VectorXd OP3Kinematics::lleg_joint_position_

protected

Definition at line 82 of file op3_kdl.h.

geometry_msgs::Pose OP3Kinematics::lleg_pose_

protected

Definition at line 83 of file op3_kdl.h.

KDL::ChainDynParam* OP3Kinematics::rleg_dyn_param_ = NULL

protected

Definition at line 66 of file op3_kdl.h.

KDL::ChainFkSolverPos_recursive* OP3Kinematics::rleg_fk_solver_

protected

Definition at line 68 of file op3_kdl.h.

KDL::ChainFkSolverPos_recursive* OP3Kinematics::rleg_ft_fk_solver_

protected

Definition at line 79 of file op3_kdl.h.

geometry_msgs::Pose OP3Kinematics::rleg_ft_pose_

protected

Definition at line 84 of file op3_kdl.h.

KDL::ChainIkSolverPos_NR_JL* OP3Kinematics::rleg_ik_pos_solver_

protected

Definition at line 70 of file op3_kdl.h.

KDL::ChainIkSolverVel_pinv* OP3Kinematics::rleg_ik_vel_solver_

protected

Definition at line 69 of file op3_kdl.h.

KDL::ChainJntToJacSolver* OP3Kinematics::rleg_jacobian_solver_

protected

Definition at line 67 of file op3_kdl.h.

Eigen::VectorXd OP3Kinematics::rleg_joint_position_

protected

Definition at line 82 of file op3_kdl.h.

geometry_msgs::Pose OP3Kinematics::rleg_pose_

protected

Definition at line 83 of file op3_kdl.h.

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

• op3_kdl.h
• op3_kdl.cpp