ur_kinematics Namespace Reference

Namespaces
	test_analytical_ik

Classes
class	URKinematicsPlugin
	Specific implementation of kinematics using KDL. This version can be used with any robot. More...

Typedefs
typedef std::pair< int, double >	idx_double

Functions
bool	comparator (const idx_double &l, const idx_double &r)
void	forward (const double *q, double *T)
void	forward_all (const double *q, double *T1, double *T2, double *T3, double *T4, double *T5, double *T6)
int	inverse (const double *T, double *q_sols, double q6_des=0.0)

Typedef Documentation

idx_double

typedef std::pair<int, double> ur_kinematics::idx_double

Definition at line 598 of file ur_moveit_plugin.cpp.

Function Documentation

comparator()

bool ur_kinematics::comparator	(	const idx_double &	l,
		const idx_double &	r
	)

Definition at line 599 of file ur_moveit_plugin.cpp.

forward()

void ur_kinematics::forward	(	const double *	q,
		double *	T
	)

Definition at line 117 of file ur_kin.cpp.

forward_all()

void ur_kinematics::forward_all	(	const double *	q,
		double *	T1,
		double *	T2,
		double *	T3,
		double *	T4,
		double *	T5,
		double *	T6
	)

Definition at line 141 of file ur_kin.cpp.

inverse()

int ur_kinematics::inverse	(	const double *	T,
		double *	q_sols,
		double	q6_des = 0.0
	)

Definition at line 267 of file ur_kin.cpp.