pr2_manipulation_controllers::Kin< Joints > Struct Template Reference

List of all members.

Public Types
typedef Eigen::Matrix< double, 6, Joints >	Jacobian
typedef Eigen::Matrix< double, Joints, 1 >	JointVec
Public Member Functions
void	fk (const JointVec &q, Eigen::Affine3d &x)
void	jac (const JointVec &q, Jacobian &J)
	Kin (const KDL::Chain &kdl_chain)
	~Kin ()
Public Attributes
KDL::ChainFkSolverPos_recursive	fk_solver_
KDL::ChainJntToJacSolver	jac_solver_
KDL::Jacobian	kdl_J
KDL::JntArray	kdl_q

---

Detailed Description

template<int Joints>
struct pr2_manipulation_controllers::Kin< Joints >

Definition at line 71 of file jt_task_controller.cpp.

---

Member Typedef Documentation

template<int Joints>

typedef Eigen::Matrix<double, 6, Joints> pr2_manipulation_controllers::Kin< Joints >::Jacobian

Definition at line 74 of file jt_task_controller.cpp.

template<int Joints>

typedef Eigen::Matrix<double, Joints, 1> pr2_manipulation_controllers::Kin< Joints >::JointVec

Definition at line 73 of file jt_task_controller.cpp.

---

Constructor & Destructor Documentation

template<int Joints>

pr2_manipulation_controllers::Kin< Joints >::Kin

(

const KDL::Chain &

kdl_chain

)

[inline]

Definition at line 76 of file jt_task_controller.cpp.

template<int Joints>

pr2_manipulation_controllers::Kin< Joints >::~Kin

(

)

[inline]

Definition at line 81 of file jt_task_controller.cpp.

---

Member Function Documentation

template<int Joints>

void pr2_manipulation_controllers::Kin< Joints >::fk	(	const JointVec &	q,
		Eigen::Affine3d &	x
	)		[inline]

Definition at line 85 of file jt_task_controller.cpp.

template<int Joints>

void pr2_manipulation_controllers::Kin< Joints >::jac	(	const JointVec &	q,
		Jacobian &	J
	)		[inline]

Definition at line 92 of file jt_task_controller.cpp.

---

Member Data Documentation

template<int Joints>

KDL::ChainFkSolverPos_recursive pr2_manipulation_controllers::Kin< Joints >::fk_solver_

Definition at line 99 of file jt_task_controller.cpp.

template<int Joints>

KDL::ChainJntToJacSolver pr2_manipulation_controllers::Kin< Joints >::jac_solver_

Definition at line 100 of file jt_task_controller.cpp.

template<int Joints>

KDL::Jacobian pr2_manipulation_controllers::Kin< Joints >::kdl_J

Definition at line 102 of file jt_task_controller.cpp.

template<int Joints>

KDL::JntArray pr2_manipulation_controllers::Kin< Joints >::kdl_q

Definition at line 101 of file jt_task_controller.cpp.

---

The documentation for this struct was generated from the following file:

• jt_task_controller.cpp