controller::Kin< Joints > Struct Template Reference

#include <jt_cartesian_controller.h>

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

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Detailed Description

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

Definition at line 66 of file jt_cartesian_controller.h.

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Member Typedef Documentation

template<int Joints>

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

Definition at line 69 of file jt_cartesian_controller.h.

template<int Joints>

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

Definition at line 68 of file jt_cartesian_controller.h.

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Constructor & Destructor Documentation

template<int Joints>

controller::Kin< Joints >::Kin

(

const KDL::Chain &

kdl_chain

)

[inline]

Definition at line 71 of file jt_cartesian_controller.h.

template<int Joints>

controller::Kin< Joints >::~Kin

(

)

[inline]

Definition at line 76 of file jt_cartesian_controller.h.

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Member Function Documentation

template<int Joints>

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

Definition at line 80 of file jt_cartesian_controller.h.

template<int Joints>

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

Definition at line 87 of file jt_cartesian_controller.h.

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Member Data Documentation

template<int Joints>

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

Definition at line 94 of file jt_cartesian_controller.h.

template<int Joints>

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

Definition at line 95 of file jt_cartesian_controller.h.

template<int Joints>

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

Definition at line 97 of file jt_cartesian_controller.h.

template<int Joints>

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

Definition at line 96 of file jt_cartesian_controller.h.

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

• jt_cartesian_controller.h