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38 for(
int i=0;
i<3;
i++)
52 for(
int i=0;
i<3;
i++)
int t_given
torque or motion controlled
The class for representing a joint.
void rotation(const fMat33 &ref, const fMat33 &tgt)
Computes the rotation from tgt to ref.
int calc_jacobian_sphere(Joint *cur)
JointType j_type
joint type
fVec3 rel_pos
(initial) position in parent joint's frame (for 0/3/6 DOF joints)
double q_des
desired joint value for 1DOF joints
Joint * joint
target joint
@ JROTATE
rotational (1DOF)
@ JSPHERE
spherical (3DOF)
fMat33 rel_att
(initial) orientation in parent joint's frame (for 0/3/6 DOF joints)
int GetJointValue(double &_q)
fVec3 pos_des
desired joint position for 6DOF joints
Inverse kinematics (UTPoser) class.
int calc_jacobian_free(Joint *cur)
void sub(const fVec3 &vec1, const fVec3 &vec2)
int i_dof
index in all DOF
int calc_jacobian_rotate(Joint *cur)
int calc_feedback()
compute the feedback velocity
fMat33 att_des
desired joint orientation for 3/6 DOF joints
fVec fb
Jacobian matrix (n_const x total DOF)
int calc_jacobian_slide(Joint *cur)
openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:02