Namespaces
	test_suite

Classes
class	ForwardKinematics
	Forward kinematics functions. More...

class	FwdKinFactory
	Define a forward kinematics plugin which the factory can create an instance. More...

class	IKFastInvKin
	IKFast Inverse Kinematics Implmentation. More...

class	IKFastInvKinFactory

class	InverseKinematics
	Inverse kinematics functions. More...

class	InvKinFactory
	Define a inverse kinematics plugin which the factory can create an instance. More...

class	JointGroup
	A Joint Group is defined by a list of joint_names. More...

struct	KDLChainData
	The KDLChainData struct. More...

class	KDLFwdKinChain
	KDL kinematic chain implementation. More...

class	KDLFwdKinChainFactory

class	KDLInvKinChainLMA
	KDL Inverse kinematic chain implementation. More...

class	KDLInvKinChainLMAFactory

class	KDLInvKinChainNR
	KDL Inverse kinematic chain implementation. More...

class	KDLInvKinChainNR_JL
	KDL Inverse kinematic chain implementation. More...

class	KDLInvKinChainNR_JLFactory

class	KDLInvKinChainNRFactory

class	KinematicGroup

class	KinematicsPluginFactory

struct	KinGroupIKInput
	Structure containing the data required to solve inverse kinematics. More...

struct	Manipulability
	Contains both manipulability ellipsoid and force ellipsoid data. More...

struct	ManipulabilityEllipsoid
	Used to store Manipulability and Force Ellipsoid data. More...

class	OPWInvKin
	OPW Inverse Kinematics Implementation. More...

class	OPWInvKinFactory

class	REPInvKin
	Robot With External Positioner Inverse kinematic implementation. More...

class	REPInvKinFactory

class	ROPInvKin
	Robot on Positioner Inverse kinematic implementation. More...

class	ROPInvKinFactory

class	URInvKin
	Universal Robot Inverse Kinematics Implementation. More...

class	URInvKinFactory

struct	URParameters
	The Universal Robot kinematic parameters. More...

Typedefs
using	IKSolutions = std::vector< Eigen::VectorXd >
	The inverse kinematics solutions container. More...

using	KinGroupIKInputs = tesseract_common::AlignedVector< KinGroupIKInput >

template<typename FloatType >
using	VectorX = Eigen::Matrix< FloatType, Eigen::Dynamic, 1 >

Functions
Manipulability	calcManipulability (const Eigen::Ref< const Eigen::MatrixXd > &jacobian)
	Calculate manipulability data about the provided jacobian. More...

bool	checkKinematics (const KinematicGroup &manip, double tol=1e-3)
	This compares calcFwdKin to calcInvKin for a KinematicGroup. More...

bool	dampedPInv (const Eigen::Ref< const Eigen::MatrixXd > &A, Eigen::Ref< Eigen::MatrixXd > P, double eps=0.011, double lambda=0.01)
	Calculate Damped Pseudoinverse Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD. More...

void	EigenToKDL (const Eigen::Isometry3d &transform, KDL::Frame &frame)
	Convert Eigen::Isometry3d to KDL::Frame. More...

void	EigenToKDL (const Eigen::Ref< const Eigen::VectorXd > &vec, KDL::JntArray &joints)
	Convert Eigen::Vector to KDL::JntArray. More...

template<typename FloatType >
std::vector< VectorX< FloatType > >	getRedundantSolutions (const Eigen::Ref< const VectorX< FloatType >> &sol, const Eigen::MatrixX2d &limits, const std::vector< Eigen::Index > &redundancy_capable_joints)
	Kinematics only return solution between PI and -PI. Provided the limits it will append redundant solutions. More...

template<typename FloatType >
void	getRedundantSolutionsHelper (std::vector< VectorX< FloatType >> &redundant_sols, const Eigen::Ref< const Eigen::VectorXd > &sol, const Eigen::MatrixX2d &limits, std::vector< Eigen::Index >::const_iterator current_index, std::vector< Eigen::Index >::const_iterator end_index)
	This a recursive function for calculating all permutations of the redundant solutions. More...

template<typename FloatType >
void	harmonizeTowardMedian (Eigen::Ref< VectorX< FloatType >> qs, const std::vector< Eigen::Index > &redundancy_capable_joints, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &position_limits)
	This takes the array of floats and modifies them in place to be between [-PI, PI] relative to limits median. More...

template<typename FloatType >
void	harmonizeTowardZero (Eigen::Ref< VectorX< FloatType >> qs, const std::vector< Eigen::Index > &redundancy_capable_joints)
	This takes an array of floats and modifies them in place to be between [-PI, PI]. More...

int	inverse (const Eigen::Isometry3d &T, const URParameters &params, double *q_sols, double q6_des)

bool	isNearSingularity (const Eigen::Ref< const Eigen::MatrixXd > &jacobian, double threshold=0.01)
	Check if the provided jacobian is near a singularity. More...

template<typename FloatType >
bool	isValid (const std::array< FloatType, 6 > &qs)
	Given a vector of floats, this check if they are finite. More...

void	KDLToEigen (const KDL::Frame &frame, Eigen::Isometry3d &transform)
	Convert KDL::Frame to Eigen::Isometry3d. More...

void	KDLToEigen (const KDL::Jacobian &jacobian, const std::vector< int > &q_nrs, Eigen::Ref< Eigen::MatrixXd > matrix)
	Convert a subset of KDL::Jacobian to Eigen::Matrix. More...

void	KDLToEigen (const KDL::Jacobian &jacobian, Eigen::Ref< Eigen::MatrixXd > matrix)
	Convert KDL::Jacobian to Eigen::Matrix. More...

void	KDLToEigen (const KDL::JntArray &joints, Eigen::Ref< Eigen::VectorXd > vec)
	Convert KDL::JntArray to Eigen::Vector. More...

void	numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base, const JointGroup &joint_group, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point)
	Numerically calculate a jacobian. This is mainly used for testing. More...

void	numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base, const tesseract_kinematics::ForwardKinematics &kin, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point)
	Numerically calculate a jacobian. This is mainly used for testing. More...

bool	parseSceneGraph (KDLChainData &results, const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &base_name, const std::string &tip_name)
	Parse KDL chain data from the scene graph. More...

bool	parseSceneGraph (KDLChainData &results, const tesseract_scene_graph::SceneGraph &scene_graph, const std::vector< std::pair< std::string, std::string >> &chains)
	Parse KDL chain data from the scene graph. More...

bool	solvePInv (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, Eigen::Ref< Eigen::VectorXd > x)
	Solve equation Ax=b for x Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD. More...

const static URParameters	UR10eParameters (0.1807, -0.6127, -0.57155, 0.17415, 0.11985, 0.11655)
	The UR10e kinematic parameters. More...

const static URParameters	UR10Parameters (0.1273, -0.612, -0.5723, 0.163941, 0.1157, 0.0922)
	The UR10 kinematic parameters. More...

const static URParameters	UR3eParameters (0.15185, -0.24355, -0.2132, 0.13105, 0.08535, 0.0921)
	The UR3e kinematic parameters. More...

const static URParameters	UR3Parameters (0.1519, -0.24365, -0.21325, 0.11235, 0.08535, 0.0819)
	The UR3 kinematic parameters. More...

const static URParameters	UR5eParameters (0.1625, -0.425, -0.3922, 0.1333, 0.0997, 0.0996)
	The UR5e kinematic parameters. More...

const static URParameters	UR5Parameters (0.089159, -0.42500, -0.39225, 0.10915, 0.09465, 0.0823)
	The UR5 kinematic parameters. More...

Variables
static const std::string	DEFAULT_REP_INV_KIN_SOLVER_NAME = "REPInvKin"

static const std::string	DEFAULT_ROP_INV_KIN_SOLVER_NAME = "ROPInvKin"

static const std::string	IKFAST_INV_KIN_CHAIN_SOLVER_NAME = "IKFastInvKin"

static const std::string	KDL_FWD_KIN_CHAIN_SOLVER_NAME = "KDLFwdKinChain"

static const std::string	KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME = "KDLInvKinChainLMA"

static const std::string	KDL_INV_KIN_CHAIN_NR_JL_SOLVER_NAME = "KDLInvKinChainNR_JL"

static const std::string	KDL_INV_KIN_CHAIN_NR_SOLVER_NAME = "KDLInvKinChainNR"

static const std::string	OPW_INV_KIN_CHAIN_SOLVER_NAME = "OPWInvKin"

static const std::string	UR_INV_KIN_CHAIN_SOLVER_NAME = "URInvKin"

Typedef Documentation

◆ IKSolutions

using tesseract_kinematics::IKSolutions = typedef std::vector<Eigen::VectorXd>

The inverse kinematics solutions container.

Definition at line 38 of file types.h.

◆ KinGroupIKInputs

using tesseract_kinematics::KinGroupIKInputs = typedef tesseract_common::AlignedVector<KinGroupIKInput>

Definition at line 73 of file kinematic_group.h.

◆ VectorX

template<typename FloatType >

using tesseract_kinematics::VectorX = typedef Eigen::Matrix<FloatType, Eigen::Dynamic, 1>

Definition at line 42 of file utils.h.

Function Documentation

◆ calcManipulability()

Manipulability tesseract_kinematics::calcManipulability ( const Eigen::Ref< const Eigen::MatrixXd > & jacobian )

Calculate manipulability data about the provided jacobian.

Parameters

jacobian The jacobian used to calculate manipulability

Returns: The manipulability data

Definition at line 188 of file utils.cpp.

◆ checkKinematics()

bool tesseract_kinematics::checkKinematics	(	const KinematicGroup &	manip,
		double	tol = `1e-3`
	)

This compares calcFwdKin to calcInvKin for a KinematicGroup.

It checks that the following are the same:

The forward kinematic solution matches the inverse kinematic solutions
Parameters

manip The kinematic group for a manipulator

Returns
True it they match, otherwise false.

Definition at line 40 of file validate.cpp.

◆ dampedPInv()

bool tesseract_kinematics::dampedPInv	(	const Eigen::Ref< const Eigen::MatrixXd > &	A,
		Eigen::Ref< Eigen::MatrixXd >	P,
		double	eps = `0.011`,
		double	lambda = `0.01`
	)

Calculate Damped Pseudoinverse Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD.

Parameters

A	Input matrix (represents Jacobian)
P	Output matrix (represents pseudoinverse of A)
eps	Singular value threshold
lambda	Damping factor

Returns: True if Pseudoinverse completes properly

Definition at line 148 of file utils.cpp.

◆ EigenToKDL() [1/2]

void tesseract_kinematics::EigenToKDL	(	const Eigen::Isometry3d &	transform,
		KDL::Frame &	frame
	)

Convert Eigen::Isometry3d to KDL::Frame.

Parameters

transform	Input Eigen transform (Isometry3d)
frame	Output KDL Frame

Definition at line 52 of file kdl_utils.cpp.

◆ EigenToKDL() [2/2]

void tesseract_kinematics::EigenToKDL	(	const Eigen::Ref< const Eigen::VectorXd > &	vec,
		KDL::JntArray &	joints
	)

Convert Eigen::Vector to KDL::JntArray.

Parameters

vec	Input Eigen vector
joints	Output KDL joint array

Definition at line 81 of file kdl_utils.cpp.

◆ getRedundantSolutions()

template<typename FloatType >

std::vector<VectorX<FloatType> > tesseract_kinematics::getRedundantSolutions	(	const Eigen::Ref< const VectorX< FloatType >> &	sol,
		const Eigen::MatrixX2d &	limits,
		const std::vector< Eigen::Index > &	redundancy_capable_joints
	)

inline

Kinematics only return solution between PI and -PI. Provided the limits it will append redundant solutions.

The list of redundant solutions does not include the provided solutions.

Parameters

sol	The solution to calculate redundant solutions about
limits	The joint limits of the robot
redundancy_capable_joints	The indices of the redundancy capable joints

Definition at line 260 of file utils.h.

◆ getRedundantSolutionsHelper()

template<typename FloatType >

void tesseract_kinematics::getRedundantSolutionsHelper	(	std::vector< VectorX< FloatType >> &	redundant_sols,
		const Eigen::Ref< const Eigen::VectorXd > &	sol,
		const Eigen::MatrixX2d &	limits,
		std::vector< Eigen::Index >::const_iterator	current_index,
		std::vector< Eigen::Index >::const_iterator	end_index
	)

inline

This a recursive function for calculating all permutations of the redundant solutions.

This should not be used directly, use getRedundantSolutions function.

Definition at line 181 of file utils.h.

◆ harmonizeTowardMedian()

template<typename FloatType >

void tesseract_kinematics::harmonizeTowardMedian	(	Eigen::Ref< VectorX< FloatType >>	qs,
		const std::vector< Eigen::Index > &	redundancy_capable_joints,
		const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 >> &	position_limits
	)

inline

This takes the array of floats and modifies them in place to be between [-PI, PI] relative to limits median.

Parameters

qs	A pointer to a float array
position_limits	The limits leveraged for calculating median

Definition at line 331 of file utils.h.

◆ harmonizeTowardZero()

template<typename FloatType >

void tesseract_kinematics::harmonizeTowardZero	(	Eigen::Ref< VectorX< FloatType >>	qs,
		const std::vector< Eigen::Index > &	redundancy_capable_joints
	)

inline

This takes an array of floats and modifies them in place to be between [-PI, PI].

Parameters

qs	A pointer to a float array
dof	The length of the float array

Definition at line 312 of file utils.h.

◆ inverse()

int tesseract_kinematics::inverse	(	const Eigen::Isometry3d &	T,
		const URParameters &	params,
		double *	q_sols,
		double	q6_des
	)

Definition at line 53 of file ur_inv_kin.cpp.

◆ isNearSingularity()

bool tesseract_kinematics::isNearSingularity	(	const Eigen::Ref< const Eigen::MatrixXd > &	jacobian,
		double	threshold = `0.01`
	)

Check if the provided jacobian is near a singularity.

This is keep separated from the forward kinematics because special consideration may need to be made based on the kinematics arrangement.

Parameters

jacobian	The jacobian to check if near a singularity
threshold	The threshold that all singular values must be greater than or equal to not be considered near a singularity

Definition at line 181 of file utils.cpp.

◆ isValid()

template<typename FloatType >

bool tesseract_kinematics::isValid ( const std::array< FloatType, 6 > & qs )

inline

Given a vector of floats, this check if they are finite.

In the case of OPW and IKFast they can return NANS so this is used to check that solutions are valid.

Parameters

qs	A pointer to a floats array
dof	The length of the float array

Returns: True if the array is valid, otherwise false

Definition at line 297 of file utils.h.

◆ KDLToEigen() [1/4]

void tesseract_kinematics::KDLToEigen	(	const KDL::Frame &	frame,
		Eigen::Isometry3d &	transform
	)

Convert KDL::Frame to Eigen::Isometry3d.

Parameters

frame	Input KDL Frame
transform	Output Eigen transform (Isometry3d)

Definition at line 39 of file kdl_utils.cpp.

◆ KDLToEigen() [2/4]

void tesseract_kinematics::KDLToEigen	(	const KDL::Jacobian &	jacobian,
		const std::vector< int > &	q_nrs,
		Eigen::Ref< Eigen::MatrixXd >	matrix
	)

Convert a subset of KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian	Input KDL Jacobian
q_nrs	Input the columns to use
matrix	Output Eigen MatrixXd

Definition at line 71 of file kdl_utils.cpp.

◆ KDLToEigen() [3/4]

void tesseract_kinematics::KDLToEigen	(	const KDL::Jacobian &	jacobian,
		Eigen::Ref< Eigen::MatrixXd >	matrix
	)

Convert KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian	Input KDL Jacobian
matrix	Output Eigen MatrixXd

Definition at line 61 of file kdl_utils.cpp.

◆ KDLToEigen() [4/4]

void tesseract_kinematics::KDLToEigen	(	const KDL::JntArray &	joints,
		Eigen::Ref< Eigen::VectorXd >	vec
	)

Convert KDL::JntArray to Eigen::Vector.

Parameters

joints	Input KDL joint array
vec	Output Eigen vector

Definition at line 83 of file kdl_utils.cpp.

◆ numericalJacobian() [1/2]

void tesseract_kinematics::numericalJacobian	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const Eigen::Isometry3d &	change_base,
		const JointGroup &	joint_group,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const std::string &	link_name,
		const Eigen::Ref< const Eigen::Vector3d > &	link_point
	)

Numerically calculate a jacobian. This is mainly used for testing.

Parameters

jacobian	(Return) The jacobian which gets filled out.
joint_group	The joint group object
joint_values	The joint values for which to calculate the jacobian
link_name	The link_name for which the jacobian should be calculated
link_point	The point on the link for which to calculate the jacobian

Definition at line 72 of file utils.cpp.

◆ numericalJacobian() [2/2]

void tesseract_kinematics::numericalJacobian	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const Eigen::Isometry3d &	change_base,
		const tesseract_kinematics::ForwardKinematics &	kin,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const std::string &	link_name,
		const Eigen::Ref< const Eigen::Vector3d > &	link_point
	)

Numerically calculate a jacobian. This is mainly used for testing.

Parameters

jacobian	(Return) The jacobian which gets filled out.
kin	The kinematics object
joint_values	The joint values for which to calculate the jacobian
link_name	The link_name for which the jacobian should be calculated
link_point	The point on the link for which to calculate the jacobian

Definition at line 38 of file utils.cpp.

◆ parseSceneGraph() [1/2]

bool tesseract_kinematics::parseSceneGraph	(	KDLChainData &	results,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	base_name,
		const std::string &	tip_name
	)

Parse KDL chain data from the scene graph.

Parameters

results	KDL Chain data
scene_graph	The Scene Graph
base_name	The base link name of chain
tip_name	The tip link name of chain

Returns: True if successful otherwise false

Definition at line 166 of file kdl_utils.cpp.

◆ parseSceneGraph() [2/2]

bool tesseract_kinematics::parseSceneGraph	(	KDLChainData &	results,
		const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::vector< std::pair< std::string, std::string >> &	chains
	)

Parse KDL chain data from the scene graph.

Parameters

results	KDL Chain data
scene_graph	The Scene Graph
chains	A vector of link pairs that represent a chain which all get concatenated together. The firts link should be the base link and the second link should the tip link of the chain.

Returns: True if successful otherwise false

Definition at line 85 of file kdl_utils.cpp.

◆ solvePInv()

bool tesseract_kinematics::solvePInv	(	const Eigen::Ref< const Eigen::MatrixXd > &	A,
		const Eigen::Ref< const Eigen::VectorXd > &	b,
		Eigen::Ref< Eigen::VectorXd >	x
	)

Solve equation Ax=b for x Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD.

Parameters

A	Input matrix (represents Jacobian)
b	Input vector (represents desired pose)
x	Output vector (represents joint values)

Returns: True if solver completes properly

Definition at line 106 of file utils.cpp.

◆ UR10eParameters()

const static URParameters tesseract_kinematics::UR10eParameters	(	0.	1807,
		-0.	6127,
		-0.	57155,
		0.	17415,
		0.	11985,
		0.	11655
	)

static

The UR10e kinematic parameters.

◆ UR10Parameters()

const static URParameters tesseract_kinematics::UR10Parameters	(	0.	1273,
		-0.	612,
		-0.	5723,
		0.	163941,
		0.	1157,
		0.	0922
	)

static

The UR10 kinematic parameters.

◆ UR3eParameters()

const static URParameters tesseract_kinematics::UR3eParameters	(	0.	15185,
		-0.	24355,
		-0.	2132,
		0.	13105,
		0.	08535,
		0.	0921
	)

static

The UR3e kinematic parameters.

◆ UR3Parameters()

const static URParameters tesseract_kinematics::UR3Parameters	(	0.	1519,
		-0.	24365,
		-0.	21325,
		0.	11235,
		0.	08535,
		0.	0819
	)

static

The UR3 kinematic parameters.

◆ UR5eParameters()

const static URParameters tesseract_kinematics::UR5eParameters	(	0.	1625,
		-0.	425,
		-0.	3922,
		0.	1333,
		0.	0997,
		0.	0996
	)

static

The UR5e kinematic parameters.

◆ UR5Parameters()

const static URParameters tesseract_kinematics::UR5Parameters	(	0.	089159,
		-0.	42500,
		-0.	39225,
		0.	10915,
		0.	09465,
		0.	0823
	)

static

The UR5 kinematic parameters.

Variable Documentation

◆ DEFAULT_REP_INV_KIN_SOLVER_NAME

const std::string tesseract_kinematics::DEFAULT_REP_INV_KIN_SOLVER_NAME = "REPInvKin"

static

Definition at line 40 of file rep_inv_kin.h.

◆ DEFAULT_ROP_INV_KIN_SOLVER_NAME

const std::string tesseract_kinematics::DEFAULT_ROP_INV_KIN_SOLVER_NAME = "ROPInvKin"

static

Definition at line 40 of file rop_inv_kin.h.

◆ IKFAST_INV_KIN_CHAIN_SOLVER_NAME

const std::string tesseract_kinematics::IKFAST_INV_KIN_CHAIN_SOLVER_NAME = "IKFastInvKin"

static

Definition at line 34 of file ikfast_inv_kin.h.

◆ KDL_FWD_KIN_CHAIN_SOLVER_NAME

const std::string tesseract_kinematics::KDL_FWD_KIN_CHAIN_SOLVER_NAME = "KDLFwdKinChain"

static

Definition at line 41 of file kdl_fwd_kin_chain.h.

◆ KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME

const std::string tesseract_kinematics::KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME = "KDLInvKinChainLMA"

static

Definition at line 40 of file kdl_inv_kin_chain_lma.h.

◆ KDL_INV_KIN_CHAIN_NR_JL_SOLVER_NAME

const std::string tesseract_kinematics::KDL_INV_KIN_CHAIN_NR_JL_SOLVER_NAME = "KDLInvKinChainNR_JL"

static

Definition at line 41 of file kdl_inv_kin_chain_nr_jl.h.

◆ KDL_INV_KIN_CHAIN_NR_SOLVER_NAME

const std::string tesseract_kinematics::KDL_INV_KIN_CHAIN_NR_SOLVER_NAME = "KDLInvKinChainNR"

static

Definition at line 41 of file kdl_inv_kin_chain_nr.h.

◆ OPW_INV_KIN_CHAIN_SOLVER_NAME

const std::string tesseract_kinematics::OPW_INV_KIN_CHAIN_SOLVER_NAME = "OPWInvKin"

static

Definition at line 38 of file opw_inv_kin.h.

◆ UR_INV_KIN_CHAIN_SOLVER_NAME

const std::string tesseract_kinematics::UR_INV_KIN_CHAIN_SOLVER_NAME = "URInvKin"

static

Definition at line 82 of file ur_inv_kin.h.

Namespaces

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ IKSolutions

◆ KinGroupIKInputs

◆ VectorX

Function Documentation

◆ calcManipulability()

◆ checkKinematics()

◆ dampedPInv()

◆ EigenToKDL() [1/2]

◆ EigenToKDL() [2/2]

◆ getRedundantSolutions()

◆ getRedundantSolutionsHelper()

◆ harmonizeTowardMedian()

◆ harmonizeTowardZero()

◆ inverse()

◆ isNearSingularity()

◆ isValid()

◆ KDLToEigen() [1/4]

◆ KDLToEigen() [2/4]

◆ KDLToEigen() [3/4]

◆ KDLToEigen() [4/4]

◆ numericalJacobian() [1/2]

◆ numericalJacobian() [2/2]

◆ parseSceneGraph() [1/2]

◆ parseSceneGraph() [2/2]

◆ solvePInv()

◆ UR10eParameters()

◆ UR10Parameters()

◆ UR3eParameters()

◆ UR3Parameters()

◆ UR5eParameters()

◆ UR5Parameters()

Variable Documentation

◆ DEFAULT_REP_INV_KIN_SOLVER_NAME

◆ DEFAULT_ROP_INV_KIN_SOLVER_NAME

◆ IKFAST_INV_KIN_CHAIN_SOLVER_NAME

◆ KDL_FWD_KIN_CHAIN_SOLVER_NAME

◆ KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME

◆ KDL_INV_KIN_CHAIN_NR_JL_SOLVER_NAME

◆ KDL_INV_KIN_CHAIN_NR_SOLVER_NAME

◆ OPW_INV_KIN_CHAIN_SOLVER_NAME

◆ UR_INV_KIN_CHAIN_SOLVER_NAME