Functions
void	linkage_transform (const std::vector< double > &joints_in, std::vector< double > *joints_out, double J23_factor=0)
	Corrects for parallel linkage coupling between joints.
void	linkage_transform (const trajectory_msgs::JointTrajectoryPoint &pt_in, trajectory_msgs::JointTrajectoryPoint *pt_out, double J23_factor=0)
	Corrects for parallel linkage coupling between joints.

Function Documentation

void abb::utils::linkage_transform	(	const std::vector< double > &	joints_in,
		std::vector< double > *	joints_out,
		double	J23_factor = `0`
	)

Corrects for parallel linkage coupling between joints.

Parameters:

[in]	joints_in	input joint angles
[out]	joints_out	output joint angles
[in]	J23_factor	Linkage factor for J2-J3. J3_out = J3_in + j23_factor * J2_in

Definition at line 47 of file abb_utils.cpp.

void abb::utils::linkage_transform	(	const trajectory_msgs::JointTrajectoryPoint &	pt_in,
		trajectory_msgs::JointTrajectoryPoint *	pt_out,
		double	J23_factor = `0`
	)

Corrects for parallel linkage coupling between joints.

Parameters:

[in]	pt_in	input joint trajectory point
[out]	pt_out	output joint trajectory point
[in]	J23_factor	Linkage factor for J2-J3. J3_out = J3_in + j23_factor * J2_in

Definition at line 41 of file abb_utils.cpp.

Functions