#include <kinematics.h>

Inheritance diagram for kinematics::SolverUsingCRAndJacobian:

Public Member Functions
virtual MatrixXd	jacobian (Manipulator *manipulator, Name tool_name)

virtual void	setOption (const void *arg)

virtual void	solveForwardKinematics (Manipulator *manipulator)

virtual bool	solveInverseKinematics (Manipulator manipulator, Name tool_name, Pose target_pose, std::vector< JointValue > goal_joint_value)

	SolverUsingCRAndJacobian ()

virtual	~SolverUsingCRAndJacobian ()

Public Member Functions inherited from robotis_manipulator::Kinematics
	Kinematics ()

virtual	~Kinematics ()

Private Member Functions
void	forwardSolverUsingChainRule (Manipulator *manipulator, Name component_name)

bool	inverseSolverUsingJacobian (Manipulator manipulator, Name tool_name, Pose target_pose, std::vector< JointValue > goal_joint_value)

Detailed Description

Definition at line 39 of file kinematics.h.

Constructor & Destructor Documentation

kinematics::SolverUsingCRAndJacobian::SolverUsingCRAndJacobian ( )

inline

Definition at line 46 of file kinematics.h.

virtual kinematics::SolverUsingCRAndJacobian::~SolverUsingCRAndJacobian ( )

inlinevirtual

Definition at line 47 of file kinematics.h.

void SolverUsingCRAndJacobian::forwardSolverUsingChainRule	(	Manipulator *	manipulator,
		Name	component_name
	)

private

Definition at line 87 of file kinematics.cpp.

bool SolverUsingCRAndJacobian::inverseSolverUsingJacobian	(	Manipulator *	manipulator,
		Name	tool_name,
		Pose	target_pose,
		std::vector< JointValue > *	goal_joint_value
	)

private

Definition at line 129 of file kinematics.cpp.

Eigen::MatrixXd SolverUsingCRAndJacobian::jacobian	(	Manipulator *	manipulator,
		Name	tool_name
	)

virtual

Definition at line 30 of file kinematics.cpp.

void SolverUsingCRAndJacobian::setOption ( const void * arg )

virtual

Definition at line 28 of file kinematics.cpp.

void SolverUsingCRAndJacobian::solveForwardKinematics ( Manipulator * manipulator )

virtual

Definition at line 75 of file kinematics.cpp.

bool SolverUsingCRAndJacobian::solveInverseKinematics	(	Manipulator *	manipulator,
		Name	tool_name,
		Pose	target_pose,
		std::vector< JointValue > *	goal_joint_value
	)

virtual

Definition at line 80 of file kinematics.cpp.

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