r2_gaze_controller::R2GazeIK Class Reference

#include <r2_gaze_ik.hpp>

List of all members.

Public Member Functions
int	computeSolution (const Eigen::VectorXd &q_act, const KDL::Frame &desired_frame, Eigen::VectorXd &q)
int	computeSolution (const KDL::JntArray &q_act, const KDL::Frame &desired_frame, KDL::JntArray &q)
	R2GazeIK (const KDL::Chain &chain)
void	setWeightMatrix (const Eigen::VectorXd &w)
void	setWeightMatrix (const Eigen::MatrixXd &W)
	~R2GazeIK ()
Private Types
typedef Eigen::DiagonalMatrix < double, Eigen::Dynamic >	DiagMatrix
typedef Eigen::MatrixXd	Jacobian
Private Member Functions
double	computeDelta (const Eigen::VectorXd &q, const KDL::Frame &desired_frame, Eigen::VectorXd &del_q)
Private Attributes
KDL::Chain	chain
Eigen::VectorXd	del_q
double	dt
Eigen::Vector3d	e
KDL::ChainFkSolverPos_recursive	fk
KDL::Jacobian	J_kdl
Jacobian	J_partial
KDL::ChainJntToJacSolver	jacobian_solver
Jacobian	Jw
Jacobian	Jwt
Jacobian	Jwt_inv
int	maxSolverAttempts
int	N
Eigen::Vector3d	p
Eigen::Vector3d	p_d
DiagMatrix	Q
KDL::JntArray	q_kdl
Eigen::VectorXd	q_local
DiagMatrix	Qinv

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Detailed Description

Definition at line 15 of file r2_gaze_ik.hpp.

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Member Typedef Documentation

typedef Eigen::DiagonalMatrix<double,Eigen::Dynamic> r2_gaze_controller::R2GazeIK::DiagMatrix [private]

Definition at line 17 of file r2_gaze_ik.hpp.

typedef Eigen::MatrixXd r2_gaze_controller::R2GazeIK::Jacobian [private]

Definition at line 18 of file r2_gaze_ik.hpp.

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Constructor & Destructor Documentation

r2_gaze_controller::R2GazeIK::R2GazeIK

(

const KDL::Chain &

chain

)

Definition at line 97 of file r2_gaze_ik.cpp.

r2_gaze_controller::R2GazeIK::~R2GazeIK

(

)

Definition at line 118 of file r2_gaze_ik.cpp.

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Member Function Documentation

double r2_gaze_controller::R2GazeIK::computeDelta	(	const Eigen::VectorXd &	q,
		const KDL::Frame &	desired_frame,
		Eigen::VectorXd &	del_q
	)		[private]

Definition at line 134 of file r2_gaze_ik.cpp.

int r2_gaze_controller::R2GazeIK::computeSolution	(	const Eigen::VectorXd &	q_act,
		const KDL::Frame &	desired_frame,
		Eigen::VectorXd &	q
	)

Definition at line 177 of file r2_gaze_ik.cpp.

int r2_gaze_controller::R2GazeIK::computeSolution	(	const KDL::JntArray &	q_act,
		const KDL::Frame &	desired_frame,
		KDL::JntArray &	q
	)

Definition at line 169 of file r2_gaze_ik.cpp.

void r2_gaze_controller::R2GazeIK::setWeightMatrix

(

const Eigen::VectorXd &

w

)

Definition at line 123 of file r2_gaze_ik.cpp.

void r2_gaze_controller::R2GazeIK::setWeightMatrix

(

const Eigen::MatrixXd &

W

)

Definition at line 128 of file r2_gaze_ik.cpp.

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Member Data Documentation

KDL::Chain r2_gaze_controller::R2GazeIK::chain [private]

Definition at line 34 of file r2_gaze_ik.hpp.

Eigen::VectorXd r2_gaze_controller::R2GazeIK::del_q [private]

Definition at line 52 of file r2_gaze_ik.hpp.

double r2_gaze_controller::R2GazeIK::dt [private]

Definition at line 47 of file r2_gaze_ik.hpp.

Eigen::Vector3d r2_gaze_controller::R2GazeIK::e [private]

Definition at line 50 of file r2_gaze_ik.hpp.

KDL::ChainFkSolverPos_recursive r2_gaze_controller::R2GazeIK::fk [private]

Definition at line 35 of file r2_gaze_ik.hpp.

KDL::Jacobian r2_gaze_controller::R2GazeIK::J_kdl [private]

Definition at line 54 of file r2_gaze_ik.hpp.

Jacobian r2_gaze_controller::R2GazeIK::J_partial [private]

Definition at line 51 of file r2_gaze_ik.hpp.

KDL::ChainJntToJacSolver r2_gaze_controller::R2GazeIK::jacobian_solver [private]

Definition at line 36 of file r2_gaze_ik.hpp.

Jacobian r2_gaze_controller::R2GazeIK::Jw [private]

Definition at line 51 of file r2_gaze_ik.hpp.

Jacobian r2_gaze_controller::R2GazeIK::Jwt [private]

Definition at line 51 of file r2_gaze_ik.hpp.

Jacobian r2_gaze_controller::R2GazeIK::Jwt_inv [private]

Definition at line 51 of file r2_gaze_ik.hpp.

int r2_gaze_controller::R2GazeIK::maxSolverAttempts [private]

Definition at line 46 of file r2_gaze_ik.hpp.

int r2_gaze_controller::R2GazeIK::N [private]

Definition at line 39 of file r2_gaze_ik.hpp.

Eigen::Vector3d r2_gaze_controller::R2GazeIK::p [private]

Definition at line 50 of file r2_gaze_ik.hpp.

Eigen::Vector3d r2_gaze_controller::R2GazeIK::p_d [private]

Definition at line 50 of file r2_gaze_ik.hpp.

DiagMatrix r2_gaze_controller::R2GazeIK::Q [private]

Definition at line 42 of file r2_gaze_ik.hpp.

KDL::JntArray r2_gaze_controller::R2GazeIK::q_kdl [private]

Definition at line 53 of file r2_gaze_ik.hpp.

Eigen::VectorXd r2_gaze_controller::R2GazeIK::q_local [private]

Definition at line 52 of file r2_gaze_ik.hpp.

DiagMatrix r2_gaze_controller::R2GazeIK::Qinv [private]

Definition at line 43 of file r2_gaze_ik.hpp.

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

• r2_gaze_ik.hpp
• r2_gaze_ik.cpp