robotis_manipulator.cpp
/tmp/ws/src/robotis_manipulator/src/robotis_manipulator/
robotis__manipulator_8cpp.html
../../include/robotis_manipulator/robotis_manipulator.h
robotis_manipulator.h
/tmp/ws/src/robotis_manipulator/include/robotis_manipulator/
robotis__manipulator_8h.html
robotis_manipulator_common.h
robotis_manipulator_manager.h
robotis_manipulator_trajectory_generator.h
robotis_manipulator_math.h
robotis_manipulator_log.h
robotis_manipulator::RobotisManipulator
robotis_manipulator
#define
DYNAMICS_ALL_SOVING
robotis__manipulator_8h.html
a5d690d21f52503ecf875760dd4b85155
#define
DYNAMICS_GRAVITY_ONLY
robotis__manipulator_8h.html
a4327be651ab68b47ca86719171a786e5
#define
DYNAMICS_NOT_SOVING
robotis__manipulator_8h.html
aaae81657666d8dd0f7d30e87f20adcd1
robotis_manipulator_common.cpp
/tmp/ws/src/robotis_manipulator/src/robotis_manipulator/
robotis__manipulator__common_8cpp.html
../../include/robotis_manipulator/robotis_manipulator_common.h
robotis_manipulator_common.h
/tmp/ws/src/robotis_manipulator/include/robotis_manipulator/
robotis__manipulator__common_8h.html
robotis_manipulator_math.h
robotis_manipulator_log.h
robotis_manipulator::_ChainingName
robotis_manipulator::_Component
robotis_manipulator::_DynamicPose
robotis_manipulator::_Dynamicvector
robotis_manipulator::_Force
robotis_manipulator::_Inertia
robotis_manipulator::_JointConstant
robotis_manipulator::_KinematicPose
robotis_manipulator::_Limit
robotis_manipulator::_Moment
robotis_manipulator::_Object
robotis_manipulator::_Point
robotis_manipulator::_Relative
robotis_manipulator::_TaskWaypoint
robotis_manipulator::_Time
robotis_manipulator::_World
robotis_manipulator::Manipulator
robotis_manipulator
struct robotis_manipulator::_Point
ActuatorValue
namespacerobotis__manipulator.html
abc9f44bb91d98df303ff0e9e8d254359
struct robotis_manipulator::_ChainingName
ChainingName
namespacerobotis__manipulator.html
a40048b873b0e183992b4b5228c34399b
struct robotis_manipulator::_Component
Component
namespacerobotis__manipulator.html
a32fcffa28d5260886bebcb92be27a78a
enum robotis_manipulator::_ComponentType
ComponentType
namespacerobotis__manipulator.html
abed38b600b21f6457c356de8e5944879
struct robotis_manipulator::_DynamicPose
DynamicPose
namespacerobotis__manipulator.html
ab8a4eae6104dc678d09007e5f5fcf4e9
struct robotis_manipulator::_Dynamicvector
Dynamicvector
namespacerobotis__manipulator.html
adddff7e8acf6d2ff7e362c3f81fb17ec
struct robotis_manipulator::_Force
Force
namespacerobotis__manipulator.html
a98524df0cbabb5d36982bf21a48578e5
struct robotis_manipulator::_Inertia
Inertia
namespacerobotis__manipulator.html
a519eaf760a47a0e779a7ab2a96e91eee
struct robotis_manipulator::_JointConstant
JointConstant
namespacerobotis__manipulator.html
a2988e3049f3ace3208415118547b9c6f
struct robotis_manipulator::_Point
JointValue
namespacerobotis__manipulator.html
a9e514088de5e26379a6afc1d09e33565
std::vector< JointValue >
JointWaypoint
namespacerobotis__manipulator.html
a4456fd8b14e1f6b7733a77837dfe9339
struct robotis_manipulator::_KinematicPose
KinematicPose
namespacerobotis__manipulator.html
a73a72161fe82d110df6bab8c42ff2665
struct robotis_manipulator::_Limit
Limit
namespacerobotis__manipulator.html
ad664b3071d2defd7b8885bc81fb923bc
struct robotis_manipulator::_Moment
Moment
namespacerobotis__manipulator.html
a9c13f87eb8be0adce8ac27c1fd662b42
STRING
Name
namespacerobotis__manipulator.html
a08c2d25e77a01ad75b9bb740f8ce4765
struct robotis_manipulator::_Object
Object
namespacerobotis__manipulator.html
a3ff284bc447fcccc7a0e1bf9aa865ee9
struct robotis_manipulator::_Point
Point
namespacerobotis__manipulator.html
a37066cb7ce50cb7578c9b0f14527d07e
struct robotis_manipulator::_TaskWaypoint
Pose
namespacerobotis__manipulator.html
af756b9e1b05714faf3909a1c079a6794
struct robotis_manipulator::_Relative
Relative
namespacerobotis__manipulator.html
ab08d95e9fd36d0681ab1a75846a491f9
struct robotis_manipulator::_TaskWaypoint
TaskWaypoint
namespacerobotis__manipulator.html
a3dafa2ac028a3dd18ffa69655a6e0ff8
struct robotis_manipulator::_Time
Time
namespacerobotis__manipulator.html
a61187dc6bfdfb9bbb877aa2ae958ddd8
struct robotis_manipulator::_Point
ToolValue
namespacerobotis__manipulator.html
ad932d9e220494a80479608eec745471f
enum robotis_manipulator::_TrajectoryType
TrajectoryType
namespacerobotis__manipulator.html
a0029d59f6eabe294556eb2c1e972b819
struct robotis_manipulator::_World
World
namespacerobotis__manipulator.html
a4514d56d0c5ad12d88c9f80ba747f12c
_ComponentType
namespacerobotis__manipulator.html
a0dc6c68ab0722251921d740a6c322a51
PASSIVE_JOINT_COMPONENT
namespacerobotis__manipulator.html
a0dc6c68ab0722251921d740a6c322a51a48d9e14bdd971b547f0b4bfcbf8588e7
ACTIVE_JOINT_COMPONENT
namespacerobotis__manipulator.html
a0dc6c68ab0722251921d740a6c322a51acdf3b34914d1a2a028d882beb96fba7c
TOOL_COMPONENT
namespacerobotis__manipulator.html
a0dc6c68ab0722251921d740a6c322a51a7d53623544fe889894c54a988f503de0
_TrajectoryType
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116
NONE
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116abe18ccc5ef07711d5fec3eed3304d2fe
JOINT_TRAJECTORY
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116a093d62b8684b778b26a1dc4a56239f3a
TASK_TRAJECTORY
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116ac3afdf4e66570420074ba4de482896c2
CUSTOM_JOINT_TRAJECTORY
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116ae214e80a3aedf656b76a8863f0f9d169
CUSTOM_TASK_TRAJECTORY
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116adda2674cede8ff709aa757c0b9e75c06
bool
setEffortToValue
namespacerobotis__manipulator.html
a4204814bbb0701741c4201fd5090895c
(std::vector< JointValue > *value, std::vector< double > effort)
bool
setPositionToValue
namespacerobotis__manipulator.html
a7d7bc48f455d444752019c525f230865
(std::vector< JointValue > *value, std::vector< double > position)
robotis_manipulator_log.cpp
/tmp/ws/src/robotis_manipulator/src/robotis_manipulator/
robotis__manipulator__log_8cpp.html
../../include/robotis_manipulator/robotis_manipulator_log.h
robotis_manipulator_log.h
/tmp/ws/src/robotis_manipulator/include/robotis_manipulator/
robotis__manipulator__log_8h.html
robotis_manipulator
robotis_manipulator::log
#define
ANSI_COLOR_BLUE
robotis__manipulator__log_8h.html
aca16e6a49eb51333c5fd3eee19487315
#define
ANSI_COLOR_CYAN
robotis__manipulator__log_8h.html
a8d0b0043e152438bb39b918a1f98c65f
#define
ANSI_COLOR_GREEN
robotis__manipulator__log_8h.html
a966c72d8d733c7734c6c784753d894c7
#define
ANSI_COLOR_MAGENTA
robotis__manipulator__log_8h.html
acb30614ba1535da5b9d0c490b3c10515
#define
ANSI_COLOR_RED
robotis__manipulator__log_8h.html
a34995b955465f6bbb37c359173d50477
#define
ANSI_COLOR_RESET
robotis__manipulator__log_8h.html
a92a364c2b863dde1a024a77eac2a5b3b
#define
ANSI_COLOR_YELLOW
robotis__manipulator__log_8h.html
a5a123b382640b3aa65dd5db386002fbc
std::string
STRING
robotis__manipulator__log_8h.html
a67f156408fa9d656017c406fe4f4b330
void
error
namespacerobotis__manipulator_1_1log.html
a13df150c610fb95cf665a6d0673509b3
(const char *str)
void
error
namespacerobotis__manipulator_1_1log.html
a19ab54a58a24d8f90c05cc10991561f4
(const char *str, double data, uint8_t decimal_point=3)
void
error
namespacerobotis__manipulator_1_1log.html
a6a84cb5481107ad244344093086fb557
(STRING str)
void
error
namespacerobotis__manipulator_1_1log.html
a2faeaa077a29ebfbdb2068f383574910
(STRING str, double data, uint8_t decimal_point=3)
void
info
namespacerobotis__manipulator_1_1log.html
a505032270cb596ee01dfc8e3030dc2c7
(const char *str)
void
info
namespacerobotis__manipulator_1_1log.html
af5acc2141dc021f203cccc3ca3120d92
(const char *str, double data, uint8_t decimal_point=3)
void
info
namespacerobotis__manipulator_1_1log.html
ae9b5a4788629e0abb0a29e2868d6d79e
(STRING str)
void
info
namespacerobotis__manipulator_1_1log.html
a530c16a6f6f6d7fe007ec32836af28a8
(STRING str, double data, uint8_t decimal_point=3)
void
print
namespacerobotis__manipulator_1_1log.html
a66839de0f964739cad9aa81383a9d651
(const char *str, double data, uint8_t decimal_point=3, STRING color="DEFAULT")
void
print
namespacerobotis__manipulator_1_1log.html
a8542b07bf2d0593a159d4e69cb19eceb
(const char *str, STRING color="DEFAULT")
void
print
namespacerobotis__manipulator_1_1log.html
ae2a75986a4f1075ab21646ff1fa5a21a
(STRING str, double data, uint8_t decimal_point=3, STRING color="DEFAULT")
void
print
namespacerobotis__manipulator_1_1log.html
ae01dad0f024eca3ad53f068204f6f293
(STRING str, STRING color="DEFAULT")
void
print_matrix
namespacerobotis__manipulator_1_1log.html
a84a7b621371c31dda949686b97b0d216
(matrix &m, uint8_t decimal_point=3)
void
print_vector
namespacerobotis__manipulator_1_1log.html
ab016bbac8ea97650fc14bd1be2ccdec5
(std::vector< T > &vec, uint8_t decimal_point=3)
void
print_vector
namespacerobotis__manipulator_1_1log.html
a389a6cffbc5d0fad712e0eac8507a2ec
(vector &vec, uint8_t decimal_point=3)
void
println
namespacerobotis__manipulator_1_1log.html
a9582bb9bfbc4a4695975ed9e3320e3a0
(const char *str, double data, uint8_t decimal_point=3, STRING color="DEFAULT")
void
println
namespacerobotis__manipulator_1_1log.html
a950fa4b4f6a187c52e5d0721c1be551c
(const char *str, STRING color="DEFAULT")
void
println
namespacerobotis__manipulator_1_1log.html
a9e7dea27daabd2ac128133832a7e8db8
(STRING str, double data, uint8_t decimal_point=3, STRING color="DEFAULT")
void
println
namespacerobotis__manipulator_1_1log.html
a4a6b5b7c361aa2c61631d2c2fcfdf065
(STRING str, STRING color="DEFAULT")
void
warn
namespacerobotis__manipulator_1_1log.html
adcfad83d39b25e03a57b8cb20283606b
(const char *str)
void
warn
namespacerobotis__manipulator_1_1log.html
a6b4909ba686cc8ca3f5e4ee9b3eb5ec1
(const char *str, double data, uint8_t decimal_point=3)
void
warn
namespacerobotis__manipulator_1_1log.html
a0b7fa98d31c1beaf1c7d0989723a5fa2
(STRING str)
void
warn
namespacerobotis__manipulator_1_1log.html
aac4f8d437de82deb67e7e9c4688dfcdc
(STRING str, double data, uint8_t decimal_point=3)
robotis_manipulator_manager.cpp
/tmp/ws/src/robotis_manipulator/src/robotis_manipulator/
robotis__manipulator__manager_8cpp.html
../../include/robotis_manipulator/robotis_manipulator_manager.h
robotis_manipulator_manager.h
/tmp/ws/src/robotis_manipulator/include/robotis_manipulator/
robotis__manipulator__manager_8h.html
robotis_manipulator_common.h
robotis_manipulator::CustomJointTrajectory
robotis_manipulator::CustomTaskTrajectory
robotis_manipulator::Dynamics
robotis_manipulator::JointActuator
robotis_manipulator::Kinematics
robotis_manipulator::ToolActuator
robotis_manipulator
robotis_manipulator_math.cpp
/tmp/ws/src/robotis_manipulator/src/robotis_manipulator/
robotis__manipulator__math_8cpp.html
../../include/robotis_manipulator/robotis_manipulator_math.h
robotis_manipulator_math.h
/tmp/ws/src/robotis_manipulator/include/robotis_manipulator/
robotis__manipulator__math_8h.html
robotis_manipulator
robotis_manipulator::math
#define
DEG2RAD
robotis__manipulator__math_8h.html
af7e8592d0a634bd3642e9fd508ea8022
#define
RAD2DEG
robotis__manipulator__math_8h.html
ac5a945020d3528355cda82d383676736
Eigen::Vector3d
convertOmegaDotToRPYAcceleration
namespacerobotis__manipulator_1_1math.html
aabd3cc7c059a6372e917bc98a3e5c1dd
(Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity, Eigen::Vector3d omega_dot)
Eigen::Vector3d
convertOmegaToRPYVelocity
namespacerobotis__manipulator_1_1math.html
ae69e1aacc48ed72442eb4dc82e280be0
(Eigen::Vector3d rpy_vector, Eigen::Vector3d omega)
Eigen::Matrix3d
convertPitchAngleToRotationMatrix
namespacerobotis__manipulator_1_1math.html
aa6112f12db3755d6677f45c9e0806cbf
(double angle)
Eigen::Matrix3d
convertQuaternionToRotationMatrix
namespacerobotis__manipulator_1_1math.html
a7a7c421fe85e75a3897a4c0c492bb662
(const Eigen::Quaterniond &quaternion)
Eigen::Vector3d
convertQuaternionToRPYVector
namespacerobotis__manipulator_1_1math.html
a5d6107f6a65d430f3eee81f93327c37a
(const Eigen::Quaterniond &quaternion)
Eigen::Matrix3d
convertRollAngleToRotationMatrix
namespacerobotis__manipulator_1_1math.html
ab7682932090e254cb077badb80fe8667
(double angle)
Eigen::Vector3d
convertRotationMatrixToOmega
namespacerobotis__manipulator_1_1math.html
a0659ad2d283ad43e01eca23f0be6a134
(const Eigen::Matrix3d &rotation_matrix)
Eigen::Quaterniond
convertRotationMatrixToQuaternion
namespacerobotis__manipulator_1_1math.html
ae5a4fd98d1cef4a4b1224b19daff63bf
(const Eigen::Matrix3d &rotation_matrix)
Eigen::Vector3d
convertRotationMatrixToRPYVector
namespacerobotis__manipulator_1_1math.html
adaa070908c6328c2459be5eaf64af68f
(const Eigen::Matrix3d &rotation_matrix)
Eigen::Vector3d
convertRPYAccelerationToOmegaDot
namespacerobotis__manipulator_1_1math.html
a752d1631596538515894f09f210eb17b
(Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity, Eigen::Vector3d rpy_acceleration)
Eigen::Quaterniond
convertRPYToQuaternion
namespacerobotis__manipulator_1_1math.html
aa1d5ec03193d986594c03ab884126416
(double roll, double pitch, double yaw)
Eigen::Matrix3d
convertRPYToRotationMatrix
namespacerobotis__manipulator_1_1math.html
a4bbc795e8c06dd0472ed25864f6ec886
(double roll, double pitch, double yaw)
Eigen::Matrix4d
convertRPYToTransformationMatrix
namespacerobotis__manipulator_1_1math.html
a82a56f3cb0404e06bf37f2e167c839ef
(double roll, double pitch, double yaw)
Eigen::Vector3d
convertRPYVelocityToOmega
namespacerobotis__manipulator_1_1math.html
a73d50f3962eeac18f464f879e6a0c8fc
(Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity)
Eigen::Matrix4d
convertXYZRPYToTransformationMatrix
namespacerobotis__manipulator_1_1math.html
a5f001cf17bbf0daaaacd46f58d3f6e8a
(double x, double y, double z, double roll, double pitch, double yaw)
Eigen::Matrix4d
convertXYZToTransformationMatrix
namespacerobotis__manipulator_1_1math.html
a0e864bea906520574b93496db74427f0
(double x, double y, double z)
Eigen::Vector3d
convertXYZToVector
namespacerobotis__manipulator_1_1math.html
acb3c85751c21502d8d23a13cc08b3cf5
(double x, double y, double z)
Eigen::Matrix3d
convertYawAngleToRotationMatrix
namespacerobotis__manipulator_1_1math.html
a0a45b10176c2a214876aa265ec8e707e
(double angle)
Eigen::VectorXd
dynamicPoseDifference
namespacerobotis__manipulator_1_1math.html
af5377134f43544caac22f6e51c72dd28
(Eigen::Vector3d desired_linear_velocity, Eigen::Vector3d present_linear_velocity, Eigen::Vector3d desired_angular_velocity, Eigen::Vector3d present_angular_velocity)
Eigen::Matrix3d
inertiaMatrix
namespacerobotis__manipulator_1_1math.html
a34ebf1c9f0f64e52807fd9798a7d87c8
(double ixx, double ixy, double ixz, double iyy, double iyz, double izz)
Eigen::Matrix4d
inverseTransformationMatrix
namespacerobotis__manipulator_1_1math.html
a0e23b77220a7f83814de154838a47be7
(const Eigen::MatrixXd &transformation_matrix)
Eigen::Matrix3d
matrix3
namespacerobotis__manipulator_1_1math.html
a22fb2daaef2f7943fa0dbd7a24e0fd4d
(double m11, double m12, double m13, double m21, double m22, double m23, double m31, double m32, double m33)
Eigen::Vector3d
matrixLogarithm
namespacerobotis__manipulator_1_1math.html
a38b3c7716c5b8a29a75d8b3243eb75e7
(Eigen::Matrix3d rotation_matrix)
Eigen::Vector3d
orientationDifference
namespacerobotis__manipulator_1_1math.html
a26796dad948a40bc2c0ac2c139ed85f0
(Eigen::Matrix3d desired_orientation, Eigen::Matrix3d present_orientation)
Eigen::VectorXd
poseDifference
namespacerobotis__manipulator_1_1math.html
a5bf9202c405abf15e234505842bf7361
(Eigen::Vector3d desired_position, Eigen::Vector3d present_position, Eigen::Matrix3d desired_orientation, Eigen::Matrix3d present_orientation)
Eigen::Vector3d
positionDifference
namespacerobotis__manipulator_1_1math.html
ab4f15d22dddddc5f712de188ba0f85f4
(Eigen::Vector3d desired_position, Eigen::Vector3d present_position)
Eigen::Matrix3d
rodriguesRotationMatrix
namespacerobotis__manipulator_1_1math.html
a515d31a7d3b19cce814cd121717bcb60
(Eigen::Vector3d axis, double angle)
double
sign
namespacerobotis__manipulator_1_1math.html
a27a6dd481239e8377185dac85cf9cd77
(double value)
Eigen::Matrix3d
skewSymmetricMatrix
namespacerobotis__manipulator_1_1math.html
a03bf0fffc828339f2216fd4a98a32923
(Eigen::Vector3d v)
Eigen::Vector3d
vector3
namespacerobotis__manipulator_1_1math.html
a057ca65131575b85aec169f3a50ed796
(double v1, double v2, double v3)
robotis_manipulator_trajectory_generator.cpp
/tmp/ws/src/robotis_manipulator/src/robotis_manipulator/
robotis__manipulator__trajectory__generator_8cpp.html
../../include/robotis_manipulator/robotis_manipulator_trajectory_generator.h
robotis_manipulator_trajectory_generator.h
/tmp/ws/src/robotis_manipulator/include/robotis_manipulator/
robotis__manipulator__trajectory__generator_8h.html
robotis_manipulator_manager.h
robotis_manipulator::JointTrajectory
robotis_manipulator::MinimumJerk
robotis_manipulator::TaskTrajectory
robotis_manipulator::Trajectory
robotis_manipulator
#define
PI
robotis__manipulator__trajectory__generator_8h.html
a598a3330b3c21701223ee0ca14316eca
RobotisManipulator.h
/tmp/ws/src/robotis_manipulator/src/
RobotisManipulator_8h.html
../include/robotis_manipulator/robotis_manipulator.h
robotis_manipulator::_ChainingName
structrobotis__manipulator_1_1__ChainingName.html
std::vector< Name >
child
structrobotis__manipulator_1_1__ChainingName.html
ac1ed6237126b45ed4c028368d76a67d1
Name
parent
structrobotis__manipulator_1_1__ChainingName.html
af13162de0c8f795608bd4480c52b7deb
robotis_manipulator::_Component
structrobotis__manipulator_1_1__Component.html
Name
actuator_name
structrobotis__manipulator_1_1__Component.html
a98cafa0c157c655ee82caf60136b15f2
ComponentType
component_type
structrobotis__manipulator_1_1__Component.html
a271b4429d8cad32f909dadffeadb85e8
JointConstant
joint_constant
structrobotis__manipulator_1_1__Component.html
a313e7b6b0c1db34e052e63782a67e3e9
JointValue
joint_value
structrobotis__manipulator_1_1__Component.html
a0103bc8c10e8a79776fb03e93ea122f4
ChainingName
name
structrobotis__manipulator_1_1__Component.html
a32138a627a9ea84714226d0baff22009
Pose
pose_from_world
structrobotis__manipulator_1_1__Component.html
aa764e2ee5a2bce23c0474031e1ebfcc3
Relative
relative
structrobotis__manipulator_1_1__Component.html
a76ed769c6ace3549a18ac5ef4fec54aa
robotis_manipulator::_DynamicPose
structrobotis__manipulator_1_1__DynamicPose.html
Dynamicvector
angular
structrobotis__manipulator_1_1__DynamicPose.html
ac70aa155aa525ea8ba1674be78c67203
Dynamicvector
linear
structrobotis__manipulator_1_1__DynamicPose.html
aa650aea5d3f468b7827c0ab95595a10d
robotis_manipulator::_Dynamicvector
structrobotis__manipulator_1_1__Dynamicvector.html
Eigen::Vector3d
acceleration
structrobotis__manipulator_1_1__Dynamicvector.html
afd7ebeb3adf579c2e68a20872951976a
Eigen::Vector3d
velocity
structrobotis__manipulator_1_1__Dynamicvector.html
a484114a8db8288972999d8272cfc5bf8
robotis_manipulator::_Force
structrobotis__manipulator_1_1__Force.html
double
x
structrobotis__manipulator_1_1__Force.html
ad720d103aa107f992ffd554d62e563dd
double
y
structrobotis__manipulator_1_1__Force.html
a73c830536eb822cab6b27a2e0082ea9f
double
z
structrobotis__manipulator_1_1__Force.html
a84f8c06dd93df0e10bb03ba4206ada02
robotis_manipulator::_Inertia
structrobotis__manipulator_1_1__Inertia.html
Eigen::Vector3d
center_of_mass
structrobotis__manipulator_1_1__Inertia.html
ac0ebadb0c939b18880cb3e7ad961e4a5
Eigen::Matrix3d
inertia_tensor
structrobotis__manipulator_1_1__Inertia.html
ab1c6e632da84d59bd110da734ced38b5
double
mass
structrobotis__manipulator_1_1__Inertia.html
a9e30ea33d00b6583cb7217732cd0c10c
robotis_manipulator::_JointConstant
structrobotis__manipulator_1_1__JointConstant.html
Eigen::Vector3d
axis
structrobotis__manipulator_1_1__JointConstant.html
a94174bf2223fcd31b8a48d239e711742
double
coefficient
structrobotis__manipulator_1_1__JointConstant.html
a45b6f0ce02f71fed0824698a32fbd32f
int8_t
id
structrobotis__manipulator_1_1__JointConstant.html
a824dd1d0e06e936291c6e6c7017d8775
Limit
position_limit
structrobotis__manipulator_1_1__JointConstant.html
a10abca305d9ad09b734abe0b6860aed6
double
torque_coefficient
structrobotis__manipulator_1_1__JointConstant.html
aebe8a9c10eedf9e3e2645b5de119f9f8
robotis_manipulator::_KinematicPose
structrobotis__manipulator_1_1__KinematicPose.html
Eigen::Matrix3d
orientation
structrobotis__manipulator_1_1__KinematicPose.html
a4cb1009970fb8569390fc961c5aa5f9e
Eigen::Vector3d
position
structrobotis__manipulator_1_1__KinematicPose.html
a323637037390a7f48b146d6782271595
robotis_manipulator::_Limit
structrobotis__manipulator_1_1__Limit.html
double
maximum
structrobotis__manipulator_1_1__Limit.html
a12aea3fd52ac1518feb12c05c719f255
double
minimum
structrobotis__manipulator_1_1__Limit.html
abf497fd698d5006b96f61c494c222357
robotis_manipulator::_Moment
structrobotis__manipulator_1_1__Moment.html
double
x
structrobotis__manipulator_1_1__Moment.html
a5eb0844861ade1086518a67e79bb2b59
double
y
structrobotis__manipulator_1_1__Moment.html
a2c5ca59359e8f36b6987b1fdd0e070c7
double
z
structrobotis__manipulator_1_1__Moment.html
af1bb79475983af50319417403fd619ff
robotis_manipulator::_Object
structrobotis__manipulator_1_1__Object.html
Inertia
inertia
structrobotis__manipulator_1_1__Object.html
a19482e71d39d3a0cd2603dca4c08a0e8
Name
tool_name
structrobotis__manipulator_1_1__Object.html
adfb08200906bb86bff7eaed1473347aa
robotis_manipulator::_Point
structrobotis__manipulator_1_1__Point.html
double
acceleration
structrobotis__manipulator_1_1__Point.html
a9b1e436b22d9b22736e971e9452d4063
double
effort
structrobotis__manipulator_1_1__Point.html
a6414ac5935dd7baee0079c4da4a0a613
double
position
structrobotis__manipulator_1_1__Point.html
a32aa4bc190b70fad0fcc1ede694ed6c8
double
velocity
structrobotis__manipulator_1_1__Point.html
adb2edab9924b80a6fe72eac350eb0d8e
robotis_manipulator::_Relative
structrobotis__manipulator_1_1__Relative.html
Inertia
inertia
structrobotis__manipulator_1_1__Relative.html
a68d4520e9db5b57ed016e280a2abb615
KinematicPose
pose_from_parent
structrobotis__manipulator_1_1__Relative.html
abe95187e192b20fda90ae3f2a4ba1ded
robotis_manipulator::_TaskWaypoint
structrobotis__manipulator_1_1__TaskWaypoint.html
DynamicPose
dynamic
structrobotis__manipulator_1_1__TaskWaypoint.html
a0a3efe2321c04b2dc0018ac3a3d6c925
KinematicPose
kinematic
structrobotis__manipulator_1_1__TaskWaypoint.html
a620c82a43f4573e9cdd88e40824d1c2c
robotis_manipulator::_Time
structrobotis__manipulator_1_1__Time.html
double
present_time
structrobotis__manipulator_1_1__Time.html
aff70f6d9fe6ab2f128abc9850654a0ed
double
start_time
structrobotis__manipulator_1_1__Time.html
a53c9415b61bed4425ace9ea9932cf8cf
double
total_move_time
structrobotis__manipulator_1_1__Time.html
accf51afbf3c4ab001f6390dd881d4aaf
robotis_manipulator::_World
structrobotis__manipulator_1_1__World.html
Name
child
structrobotis__manipulator_1_1__World.html
a814bde4e90579fef3c41bc671cf716d7
Name
name
structrobotis__manipulator_1_1__World.html
af43933dcaaed1760c3adc6050149f8b0
Pose
pose
structrobotis__manipulator_1_1__World.html
a1abd8b7a78440bd791b5235c21031560
robotis_manipulator::CustomJointTrajectory
classrobotis__manipulator_1_1CustomJointTrajectory.html
CustomJointTrajectory
classrobotis__manipulator_1_1CustomJointTrajectory.html
a68daf69c70b60f58a30b235618448bd6
()
virtual JointWaypoint
getJointWaypoint
classrobotis__manipulator_1_1CustomJointTrajectory.html
aa8f8cae5e28d0b4400d4ba9af9a3c396
(double tick)=0
virtual void
makeJointTrajectory
classrobotis__manipulator_1_1CustomJointTrajectory.html
af407a0f777289295dd1bbae692d5761a
(double move_time, JointWaypoint start, const void *arg)=0
virtual void
setOption
classrobotis__manipulator_1_1CustomJointTrajectory.html
a3e6eb8b2ad0c0b9647864e377b41d099
(const void *arg)=0
virtual
~CustomJointTrajectory
classrobotis__manipulator_1_1CustomJointTrajectory.html
a0b26437cc90db37b0054f57ce4619fc3
()
robotis_manipulator::CustomTaskTrajectory
classrobotis__manipulator_1_1CustomTaskTrajectory.html
CustomTaskTrajectory
classrobotis__manipulator_1_1CustomTaskTrajectory.html
ac2d9f3dc73a9b355d967835d5aafc274
()
virtual TaskWaypoint
getTaskWaypoint
classrobotis__manipulator_1_1CustomTaskTrajectory.html
aa304eee6a768c221750e88faaa3689b8
(double tick)=0
virtual void
makeTaskTrajectory
classrobotis__manipulator_1_1CustomTaskTrajectory.html
a06278d45f1b80a9994617c61daefac99
(double move_time, TaskWaypoint start, const void *arg)=0
virtual void
setOption
classrobotis__manipulator_1_1CustomTaskTrajectory.html
a027ae37e3adbdfe634442351240619f1
(const void *arg)=0
virtual
~CustomTaskTrajectory
classrobotis__manipulator_1_1CustomTaskTrajectory.html
a9895c8d695786bdf868de651d5aa170d
()
robotis_manipulator::Dynamics
classrobotis__manipulator_1_1Dynamics.html
Dynamics
classrobotis__manipulator_1_1Dynamics.html
ac332fb9185a81e1d57539a0926c4a3cd
()
virtual bool
setEnvironments
classrobotis__manipulator_1_1Dynamics.html
aa970add134b4d6228d488be6b503145f
(STRING param_name, const void *arg)=0
virtual bool
setOption
classrobotis__manipulator_1_1Dynamics.html
ad5ed46a38105f62654dfe4b02b2fa5f1
(STRING param_name, const void *arg)=0
virtual bool
solveForwardDynamics
classrobotis__manipulator_1_1Dynamics.html
aad8074847d3db33e29ca7fbae29c92be
(Manipulator *manipulator, std::map< Name, double > joint_torque)=0
virtual bool
solveInverseDynamics
classrobotis__manipulator_1_1Dynamics.html
ab1497dc0ddae3857fad9890f6f3a8322
(Manipulator manipulator, std::map< Name, double > *joint_torque)=0
virtual
~Dynamics
classrobotis__manipulator_1_1Dynamics.html
ac9afea05b5a0079298790a09f87599b9
()
robotis_manipulator::JointActuator
classrobotis__manipulator_1_1JointActuator.html
virtual void
disable
classrobotis__manipulator_1_1JointActuator.html
a44f91bec9d60f61fe9158d94051602a7
()=0
virtual void
enable
classrobotis__manipulator_1_1JointActuator.html
a08e3ca20664d47a12810b0c3cec38b5b
()=0
bool
findId
classrobotis__manipulator_1_1JointActuator.html
a1d096f6f6de5506e003ba05621ec5d33
(uint8_t actuator_id)
bool
getEnabledState
classrobotis__manipulator_1_1JointActuator.html
aff85f4ec7a489e770c4f6130cdf961ae
()
virtual std::vector< uint8_t >
getId
classrobotis__manipulator_1_1JointActuator.html
a6ba533ba29c662db7c806762735e9c9c
()=0
virtual void
init
classrobotis__manipulator_1_1JointActuator.html
a8573f4c73d9653d0dafc2178fca85c71
(std::vector< uint8_t > actuator_id, const void *arg)=0
JointActuator
classrobotis__manipulator_1_1JointActuator.html
a105f09b15736f833bdb7ee3007c02a43
()
virtual std::vector< ActuatorValue >
receiveJointActuatorValue
classrobotis__manipulator_1_1JointActuator.html
a19c2c68427ec015516709dbe6b284688
(std::vector< uint8_t > actuator_id)=0
virtual bool
sendJointActuatorValue
classrobotis__manipulator_1_1JointActuator.html
abfae426680e7567920b54afd1f5c585a
(std::vector< uint8_t > actuator_id, std::vector< ActuatorValue > value_vector)=0
virtual void
setMode
classrobotis__manipulator_1_1JointActuator.html
a326759d58b0d95f4140c7615c585534d
(std::vector< uint8_t > actuator_id, const void *arg)=0
virtual
~JointActuator
classrobotis__manipulator_1_1JointActuator.html
a8ecdaaabb57c7e0774f49779f756d488
()
bool
enabled_state_
classrobotis__manipulator_1_1JointActuator.html
a62a6eaa962983ecd3948d5b9fecae79b
robotis_manipulator::JointTrajectory
classrobotis__manipulator_1_1JointTrajectory.html
JointWaypoint
getJointWaypoint
classrobotis__manipulator_1_1JointTrajectory.html
aef1a0eaac83af6599f2bef674d299f4c
(double tick)
Eigen::MatrixXd
getMinimumJerkCoefficient
classrobotis__manipulator_1_1JointTrajectory.html
a2a471ffc50baf5d83bd857ea57ed3ccd
()
JointTrajectory
classrobotis__manipulator_1_1JointTrajectory.html
abeaf864dbc1fa619ca8870c03f36f8b5
()
bool
makeJointTrajectory
classrobotis__manipulator_1_1JointTrajectory.html
a49cb3262325d92047eca7beb5237f897
(double move_time, JointWaypoint start, JointWaypoint goal)
virtual
~JointTrajectory
classrobotis__manipulator_1_1JointTrajectory.html
a971255bd9c193d9c333f1c095692f7e3
()
uint8_t
coefficient_size_
classrobotis__manipulator_1_1JointTrajectory.html
abfc3d7ff3a5789f818ce2a483118458a
Eigen::MatrixXd
minimum_jerk_coefficient_
classrobotis__manipulator_1_1JointTrajectory.html
a74b431132c75c6840b70ea62f65d3c48
MinimumJerk
minimum_jerk_trajectory_generator_
classrobotis__manipulator_1_1JointTrajectory.html
a7138717ca5cd53ca07e3ff9c68494170
robotis_manipulator::Kinematics
classrobotis__manipulator_1_1Kinematics.html
virtual Eigen::MatrixXd
jacobian
classrobotis__manipulator_1_1Kinematics.html
a8644b348452df2f0a46b00aadc36c218
(Manipulator *manipulator, Name tool_name)=0
Kinematics
classrobotis__manipulator_1_1Kinematics.html
a3d08da271bc5cce3cafa2d331277cc5d
()
virtual void
setOption
classrobotis__manipulator_1_1Kinematics.html
adc048ff10f7707e3ced3143e583983bc
(const void *arg)=0
virtual void
solveForwardKinematics
classrobotis__manipulator_1_1Kinematics.html
adfdd3727052c27d12e3fc2209c025317
(Manipulator *manipulator)=0
virtual bool
solveInverseKinematics
classrobotis__manipulator_1_1Kinematics.html
a6065cf1bff763854b9a0bd62945a093b
(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector< JointValue > *goal_joint_position)=0
virtual
~Kinematics
classrobotis__manipulator_1_1Kinematics.html
a202eda8d94a06263cf5d729dd51e59ab
()
robotis_manipulator::Manipulator
classrobotis__manipulator_1_1Manipulator.html
void
addComponentChild
classrobotis__manipulator_1_1Manipulator.html
aa26790929f153a49180239f3ac82338f
(Name my_name, Name child_name)
void
addJoint
classrobotis__manipulator_1_1Manipulator.html
a4c52e23667a17b4d4ce6935628aa5952
(Name my_name, Name parent_name, Name child_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, Eigen::Vector3d axis_of_rotation=Eigen::Vector3d::Zero(), int8_t joint_actuator_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero(), double torque_coefficient=1.0)
void
addTool
classrobotis__manipulator_1_1Manipulator.html
a8461bc2ec1d854cd46471bb3ad4b7b9e
(Name my_name, Name parent_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, int8_t tool_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero(), double torque_coefficient=1.0)
void
addWorld
classrobotis__manipulator_1_1Manipulator.html
a703e6d5646e595281d0352c2d0363327
(Name world_name, Name child_name, Eigen::Vector3d world_position=Eigen::Vector3d::Zero(), Eigen::Matrix3d world_orientation=Eigen::Matrix3d::Identity())
bool
checkComponentType
classrobotis__manipulator_1_1Manipulator.html
a5b1f27b9cc2875b4e0275e3b88ab1b28
(Name component_name, ComponentType component_type)
bool
checkJointLimit
classrobotis__manipulator_1_1Manipulator.html
a715e5825f289765d1c6ce9687ce6c6e5
(Name Component_name, double value)
Name
findComponentNameUsingId
classrobotis__manipulator_1_1Manipulator.html
a9f8406b7a5be743cc2dfc29a9f7ea647
(int8_t id)
std::vector< Name >
getAllActiveJointComponentName
classrobotis__manipulator_1_1Manipulator.html
af746f90412f3a1f08dee32a855ca177c
()
std::vector< uint8_t >
getAllActiveJointID
classrobotis__manipulator_1_1Manipulator.html
a36d90688599cbd3067ce1d0c07f514aa
()
std::vector< double >
getAllActiveJointPosition
classrobotis__manipulator_1_1Manipulator.html
a5910fd02cefde8b34e7db6af4ab8415d
()
std::vector< JointValue >
getAllActiveJointValue
classrobotis__manipulator_1_1Manipulator.html
ae11f05005b456e13ef17585a70179dce
()
std::map< Name, Component >
getAllComponent
classrobotis__manipulator_1_1Manipulator.html
ad15f38d8421fd4ce11ca71527475bbaf
()
std::vector< uint8_t >
getAllJointID
classrobotis__manipulator_1_1Manipulator.html
a689daa284722f6b940e1196dd3dde43e
()
std::vector< double >
getAllJointPosition
classrobotis__manipulator_1_1Manipulator.html
a32a7e8ec9292d714fe824982f2f21c83
()
std::vector< JointValue >
getAllJointValue
classrobotis__manipulator_1_1Manipulator.html
a2d1613d98d3f2bfcddf78df3871ef974
()
std::vector< Name >
getAllToolComponentName
classrobotis__manipulator_1_1Manipulator.html
a53cf6f3195057072869795ebac3b8dce
()
std::vector< double >
getAllToolPosition
classrobotis__manipulator_1_1Manipulator.html
af3ed7fd19820970d246f4a2459151075
()
std::vector< JointValue >
getAllToolValue
classrobotis__manipulator_1_1Manipulator.html
a996f60dc81526d473a3e5223d58979c7
()
Eigen::Vector3d
getAxis
classrobotis__manipulator_1_1Manipulator.html
a87ccf9e102541d37ef93f3952a1d2ac9
(Name component_name)
double
getCoefficient
classrobotis__manipulator_1_1Manipulator.html
a437ac5f137aa788c4db07690c185e9ba
(Name component_name)
Component
getComponent
classrobotis__manipulator_1_1Manipulator.html
a38623495d8fb45236c6acf119f388abf
(Name component_name)
Name
getComponentActuatorName
classrobotis__manipulator_1_1Manipulator.html
a371446cbf4d2d5a572b173d713305fb1
(Name component_name)
Eigen::Vector3d
getComponentCenterOfMass
classrobotis__manipulator_1_1Manipulator.html
a7002f6083a3f72754189c60d9e92241a
(Name component_name)
std::vector< Name >
getComponentChildName
classrobotis__manipulator_1_1Manipulator.html
a21d1f387435215c3675517581cf225dd
(Name component_name)
DynamicPose
getComponentDynamicPoseFromWorld
classrobotis__manipulator_1_1Manipulator.html
abebe232d3d0f532920d38194296733bf
(Name component_name)
Eigen::Matrix3d
getComponentInertiaTensor
classrobotis__manipulator_1_1Manipulator.html
a05d58cf6a4e7540d00a8621f9ba83f07
(Name component_name)
KinematicPose
getComponentKinematicPoseFromWorld
classrobotis__manipulator_1_1Manipulator.html
abf86af18bdea1094c29763366167bfd5
(Name component_name)
double
getComponentMass
classrobotis__manipulator_1_1Manipulator.html
a3af8d42e8d3ef45ccbbfc7b052c51e07
(Name component_name)
Eigen::Matrix3d
getComponentOrientationFromWorld
classrobotis__manipulator_1_1Manipulator.html
a9228f1f4b7fd627da2a618b79b2f0c0b
(Name component_name)
Name
getComponentParentName
classrobotis__manipulator_1_1Manipulator.html
aa1401774b97703aead9174595742b7bd
(Name component_name)
Pose
getComponentPoseFromWorld
classrobotis__manipulator_1_1Manipulator.html
ae48083e42b02bbf672f43b2f77979f21
(Name component_name)
Eigen::Vector3d
getComponentPositionFromWorld
classrobotis__manipulator_1_1Manipulator.html
a04b2efdf66bc0e4bd04dc9aafd9f2d47
(Name component_name)
Eigen::Matrix3d
getComponentRelativeOrientationFromParent
classrobotis__manipulator_1_1Manipulator.html
a853cca36072acd6285a51f1df06b68bb
(Name component_name)
KinematicPose
getComponentRelativePoseFromParent
classrobotis__manipulator_1_1Manipulator.html
a2abc1041fd276bedc98c3a4e4fe4a452
(Name component_name)
Eigen::Vector3d
getComponentRelativePositionFromParent
classrobotis__manipulator_1_1Manipulator.html
aa910d1dae2cd9e44be612be1c45d9972
(Name component_name)
int8_t
getComponentSize
classrobotis__manipulator_1_1Manipulator.html
a2bf9733c62dc10fffce7756d7c2761ec
()
int8_t
getDOF
classrobotis__manipulator_1_1Manipulator.html
a2be640cd5d1fb496f5a6ccd2bb29d781
()
int8_t
getId
classrobotis__manipulator_1_1Manipulator.html
a60db34ef6a62e0b15aa36f9b1571640d
(Name component_name)
std::map< Name, Component >::iterator
getIteratorBegin
classrobotis__manipulator_1_1Manipulator.html
a83e1adbb8c496ebf785311c8aab2b9ad
()
std::map< Name, Component >::iterator
getIteratorEnd
classrobotis__manipulator_1_1Manipulator.html
ae600869bf358724f53241eb5f061ea78
()
double
getJointAcceleration
classrobotis__manipulator_1_1Manipulator.html
a473427796d0109cd5c093019e5286570
(Name component_name)
double
getJointEffort
classrobotis__manipulator_1_1Manipulator.html
ae592931354a1bb5f1ee1c14509bd1e5f
(Name component_name)
double
getJointPosition
classrobotis__manipulator_1_1Manipulator.html
af7c65103032ba25d26dd77b49f7875ec
(Name component_name)
JointValue
getJointValue
classrobotis__manipulator_1_1Manipulator.html
ad8709ca99c7a1ac09450fc8bca0ab7a5
(Name component_name)
double
getJointVelocity
classrobotis__manipulator_1_1Manipulator.html
a4588f79a86a8bc9505b257f8f4d9b1c4
(Name component_name)
double
getTorqueCoefficient
classrobotis__manipulator_1_1Manipulator.html
aebe3073a540768024c06242532be670a
(Name component_name)
Name
getWorldChildName
classrobotis__manipulator_1_1Manipulator.html
a628177e105b1321f4e52a2ae8dffa9a2
()
DynamicPose
getWorldDynamicPose
classrobotis__manipulator_1_1Manipulator.html
a8ecb51f08b72848c6471b8ca1aae7306
()
KinematicPose
getWorldKinematicPose
classrobotis__manipulator_1_1Manipulator.html
a0f6de4e9c426d25e6f8dd796a7fa7e67
()
Name
getWorldName
classrobotis__manipulator_1_1Manipulator.html
a3b070bf112ee69b8982eaae8deb30572
()
Eigen::Matrix3d
getWorldOrientation
classrobotis__manipulator_1_1Manipulator.html
a01ce8a2bf764dc82c5db428fbed8c078
()
Pose
getWorldPose
classrobotis__manipulator_1_1Manipulator.html
a479f098004c0c5159d43167f77f3e042
()
Eigen::Vector3d
getWorldPosition
classrobotis__manipulator_1_1Manipulator.html
a1a06d64bbc395207454a949fa297690d
()
Manipulator
classrobotis__manipulator_1_1Manipulator.html
a4c301d01641037e7548a1b87e6103f65
()
void
printManipulatorSetting
classrobotis__manipulator_1_1Manipulator.html
a4905d7e23cba50ee7c518d078774efe8
()
void
setAllActiveJointPosition
classrobotis__manipulator_1_1Manipulator.html
a5c1a45efe548837cfa8bb51ccc65a757
(std::vector< double > joint_position_vector)
void
setAllActiveJointValue
classrobotis__manipulator_1_1Manipulator.html
af42c8e7d8b0a1fe505832d632348e804
(std::vector< JointValue > joint_value_vector)
void
setAllJointPosition
classrobotis__manipulator_1_1Manipulator.html
a5752ed8828468e7a6f729871ff812205
(std::vector< double > joint_position_vector)
void
setAllJointValue
classrobotis__manipulator_1_1Manipulator.html
a383388a3c388fbfc4482f670d5e4ad10
(std::vector< JointValue > joint_value_vector)
void
setAllToolPosition
classrobotis__manipulator_1_1Manipulator.html
a1ef41a8b1c12d416646fd0291f66ea81
(std::vector< double > tool_position_vector)
void
setAllToolValue
classrobotis__manipulator_1_1Manipulator.html
aea664539cecc8a68c7d58ccbf9760787
(std::vector< JointValue > tool_value_vector)
void
setComponent
classrobotis__manipulator_1_1Manipulator.html
a3592945e556a0762c4d306817f3d700f
(Name component_name, Component component)
void
setComponentActuatorName
classrobotis__manipulator_1_1Manipulator.html
a27e5f2bca0da521334d59600134bd28b
(Name component_name, Name actuator_name)
void
setComponentDynamicPoseFromWorld
classrobotis__manipulator_1_1Manipulator.html
a904b6dccb05e5edaae2c7e29d54fd197
(Name component_name, DynamicPose dynamic_pose)
void
setComponentKinematicPoseFromWorld
classrobotis__manipulator_1_1Manipulator.html
a385fe607bab5200b5898541d4d03a005
(Name component_name, KinematicPose pose_to_world)
void
setComponentOrientationFromWorld
classrobotis__manipulator_1_1Manipulator.html
a692e8e4bdf8affcfe615f7fc56f1d5f0
(Name component_name, Eigen::Matrix3d orientation_to_wolrd)
void
setComponentPoseFromWorld
classrobotis__manipulator_1_1Manipulator.html
ad070b3aba379f97459e2c784626d05a4
(Name component_name, Pose pose_to_world)
void
setComponentPositionFromWorld
classrobotis__manipulator_1_1Manipulator.html
ab3b7bbd92252755711019606642f83c6
(Name component_name, Eigen::Vector3d position_to_world)
void
setJointAcceleration
classrobotis__manipulator_1_1Manipulator.html
a07211b030e35d36d64c620eac5e45f92
(Name name, double acceleration)
void
setJointEffort
classrobotis__manipulator_1_1Manipulator.html
aa8b95ee42ecd2e93496f546c144609bf
(Name name, double effort)
void
setJointPosition
classrobotis__manipulator_1_1Manipulator.html
acedaab5099be0997bb2aae307c81fa80
(Name name, double position)
void
setJointValue
classrobotis__manipulator_1_1Manipulator.html
aa740b17551040520851ec8dc1d619bfe
(Name name, JointValue joint_value)
void
setJointVelocity
classrobotis__manipulator_1_1Manipulator.html
aa8d57910111e9d1ec39313d2527b6c08
(Name name, double velocity)
void
setTorqueCoefficient
classrobotis__manipulator_1_1Manipulator.html
a67ec0c2184a658ebf29368c9b4c1b606
(Name component_name, double torque_coefficient)
void
setWorldAngularAcceleration
classrobotis__manipulator_1_1Manipulator.html
a456c183bce6514a5b5c1b1524c5033ac
(Eigen::Vector3d world_angular_acceleration)
void
setWorldAngularVelocity
classrobotis__manipulator_1_1Manipulator.html
a8fb7188e96d33514a8e5205c79d9b0fc
(Eigen::Vector3d world_angular_velocity)
void
setWorldDynamicPose
classrobotis__manipulator_1_1Manipulator.html
a15476bd6ca87081029c96dd8c6bad319
(DynamicPose world_dynamic_pose)
void
setWorldKinematicPose
classrobotis__manipulator_1_1Manipulator.html
a2e6c5c86669eff458be6bbd0c960f0cf
(KinematicPose world_kinematic_pose)
void
setWorldLinearAcceleration
classrobotis__manipulator_1_1Manipulator.html
a6907a02ab76092769a74f1197bedd381
(Eigen::Vector3d world_linear_acceleration)
void
setWorldLinearVelocity
classrobotis__manipulator_1_1Manipulator.html
a9d842b9fc11e76aad985b86b4814caf5
(Eigen::Vector3d world_linear_velocity)
void
setWorldOrientation
classrobotis__manipulator_1_1Manipulator.html
aeb2ca276081f334d2dcdd8808660189d
(Eigen::Matrix3d world_orientation)
void
setWorldPose
classrobotis__manipulator_1_1Manipulator.html
a0a6290aa7c975c78e0d024be9bedd802
(Pose world_pose)
void
setWorldPosition
classrobotis__manipulator_1_1Manipulator.html
a7e07c0d513fbac5e758280a3105543d9
(Eigen::Vector3d world_position)
~Manipulator
classrobotis__manipulator_1_1Manipulator.html
a90c57c694c00e9380ccd3c399ef85acf
()
std::map< Name, Component >
component_
classrobotis__manipulator_1_1Manipulator.html
a20b388b821f161972c2cf737fe1c26db
int8_t
dof_
classrobotis__manipulator_1_1Manipulator.html
a39092ac588acd5e8713b55e18b85aebb
World
world_
classrobotis__manipulator_1_1Manipulator.html
a2da05841bad220ca4072a11649777bb6
robotis_manipulator::MinimumJerk
classrobotis__manipulator_1_1MinimumJerk.html
void
calcCoefficient
classrobotis__manipulator_1_1MinimumJerk.html
afd29204e588525a2688a74d2a9656354
(Point start, Point goal, double move_time)
Eigen::VectorXd
getCoefficient
classrobotis__manipulator_1_1MinimumJerk.html
a1610599c85567422e492e0893e02cc34
()
MinimumJerk
classrobotis__manipulator_1_1MinimumJerk.html
a9cb2cb3c451d6c1709f2cea01f0b8ce4
()
virtual
~MinimumJerk
classrobotis__manipulator_1_1MinimumJerk.html
aad3345d5cde2785b5fc69e2d79ed39ae
()
Eigen::VectorXd
coefficient_
classrobotis__manipulator_1_1MinimumJerk.html
aba337700d848e93b2776ff96ee4485bc
robotis_manipulator::RobotisManipulator
classrobotis__manipulator_1_1RobotisManipulator.html
void
addComponentChild
classrobotis__manipulator_1_1RobotisManipulator.html
a46b8a455b56b79d21ff45c5f0961efef
(Name my_name, Name child_name)
void
addCustomTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
acba87dc54d9d75dd65d0bba0ad810ffe
(Name trajectory_name, CustomJointTrajectory *custom_trajectory)
void
addCustomTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
a5d60df52f23bed89642b39af84046aa5
(Name trajectory_name, CustomTaskTrajectory *custom_trajectory)
void
addDynamics
classrobotis__manipulator_1_1RobotisManipulator.html
ad09962c8e7efd41a9ebbd9778b88068e
(Dynamics *dynamics)
void
addJoint
classrobotis__manipulator_1_1RobotisManipulator.html
a1625fa539160992b50b63323de8d99ac
(Name my_name, Name parent_name, Name child_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, Eigen::Vector3d axis_of_rotation=Eigen::Vector3d::Zero(), int8_t joint_actuator_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double mass=0.0, Eigen::Matrix3d inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d center_of_mass=Eigen::Vector3d::Zero(), double torque_coefficient=1.0)
void
addJointActuator
classrobotis__manipulator_1_1RobotisManipulator.html
a31742609d347630169ddc083bb390bb5
(Name actuator_name, JointActuator *joint_actuator, std::vector< uint8_t > id_array, const void *arg)
void
addKinematics
classrobotis__manipulator_1_1RobotisManipulator.html
a50556f2563927f3e3f9b73f6378f152f
(Kinematics *kinematics)
void
addTool
classrobotis__manipulator_1_1RobotisManipulator.html
ae40a048fa333a47f733442c6ffb99d0b
(Name my_name, Name parent_name, Eigen::Vector3d relative_position, Eigen::Matrix3d relative_orientation, int8_t tool_id=-1, double max_position_limit=M_PI, double min_position_limit=-M_PI, double coefficient=1.0, double object_mass=0.0, Eigen::Matrix3d object_inertia_tensor=Eigen::Matrix3d::Identity(), Eigen::Vector3d object_center_of_mass=Eigen::Vector3d::Zero())
void
addToolActuator
classrobotis__manipulator_1_1RobotisManipulator.html
a88f0868c117783b630779270875793bd
(Name tool_name, ToolActuator *tool_actuator, uint8_t id, const void *arg)
void
addWorld
classrobotis__manipulator_1_1RobotisManipulator.html
a31039ed1e93d8c9f1a83d31fadff4a5c
(Name world_name, Name child_name, Eigen::Vector3d world_position=Eigen::Vector3d::Zero(), Eigen::Matrix3d world_orientation=Eigen::Matrix3d::Identity())
bool
checkJointLimit
classrobotis__manipulator_1_1RobotisManipulator.html
a37a3225fe662919d78e32b860e64e61a
(Name component_name, double position)
bool
checkJointLimit
classrobotis__manipulator_1_1RobotisManipulator.html
a58889d7ad25c86c1b7e1a17d07fbc45d
(Name component_name, JointValue value)
bool
checkJointLimit
classrobotis__manipulator_1_1RobotisManipulator.html
a552fd021bf33ae2f21ffdd18bb104fb5
(std::vector< Name > component_name, std::vector< double > position_vector)
bool
checkJointLimit
classrobotis__manipulator_1_1RobotisManipulator.html
a000f46b185190fc13e236546ea8a11fc
(std::vector< Name > component_name, std::vector< JointValue > value_vector)
void
disableActuator
classrobotis__manipulator_1_1RobotisManipulator.html
a45481ddd6bb9203e936e21f9a123ee25
(Name actuator_name)
void
disableAllActuator
classrobotis__manipulator_1_1RobotisManipulator.html
a39ddc4fec0ebe31860b6d8c0caa03c70
()
void
disableAllJointActuator
classrobotis__manipulator_1_1RobotisManipulator.html
ac09e6b56facde00b9eb07eead84091d7
()
void
disableAllToolActuator
classrobotis__manipulator_1_1RobotisManipulator.html
aab20aa14df1e1ce04a82a6f38d0a8740
()
void
enableActuator
classrobotis__manipulator_1_1RobotisManipulator.html
aa4b1b5f4c733cc21744e1c5e76ed46f9
(Name actuator_name)
void
enableAllActuator
classrobotis__manipulator_1_1RobotisManipulator.html
a12deb7fccba0dd37c58bbee691458af6
()
void
enableAllJointActuator
classrobotis__manipulator_1_1RobotisManipulator.html
ad0176ec40b940118eccf2b74b4864044
()
void
enableAllToolActuator
classrobotis__manipulator_1_1RobotisManipulator.html
a1374268ca98e71fe721d61640ca33114
()
bool
getActuatorEnabledState
classrobotis__manipulator_1_1RobotisManipulator.html
a6e35facbe46c68db4e77d28495c636c4
(Name actuator_name)
std::vector< JointValue >
getAllActiveJointValue
classrobotis__manipulator_1_1RobotisManipulator.html
a7a544fa90d43e788db23532bc330aab2
()
std::vector< JointValue >
getAllJointValue
classrobotis__manipulator_1_1RobotisManipulator.html
aa9b1913956d600a58c458e47217cedfb
()
std::vector< double >
getAllToolPosition
classrobotis__manipulator_1_1RobotisManipulator.html
a7c4d0c574f879cf8919d8ce8a1ba7ea6
()
std::vector< JointValue >
getAllToolValue
classrobotis__manipulator_1_1RobotisManipulator.html
acd4c2ee87fda3006165c67ce4f738625
()
DynamicPose
getDynamicPose
classrobotis__manipulator_1_1RobotisManipulator.html
a1bcae2a87f1998fc659f02810808f7e3
(Name component_name)
Dynamics *
getDynamics
classrobotis__manipulator_1_1RobotisManipulator.html
ac47b8c000556418720ebf4678a6878eb
()
JointActuator *
getJointActuator
classrobotis__manipulator_1_1RobotisManipulator.html
a3b4d780aa1d09b6f751dd475a5697227
(Name actuator_name)
std::vector< uint8_t >
getJointActuatorId
classrobotis__manipulator_1_1RobotisManipulator.html
a8662851d365d64de8734a98cc873c0d7
(Name actuator_name)
std::vector< JointValue >
getJointGoalValueFromTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
ace100e979d65b462499ce581da2ab7d4
(double present_time, int option=DYNAMICS_ALL_SOVING)
std::vector< JointValue >
getJointGoalValueFromTrajectoryTickTime
classrobotis__manipulator_1_1RobotisManipulator.html
aeabf7d5e0159fa82898e6372313ee44c
(double tick_time)
JointValue
getJointValue
classrobotis__manipulator_1_1RobotisManipulator.html
ae43473d4edcaafb7e7885db3276d6280
(Name joint_name)
KinematicPose
getKinematicPose
classrobotis__manipulator_1_1RobotisManipulator.html
a997b8676756be7cf1cbf04645c722df9
(Name component_name)
Kinematics *
getKinematics
classrobotis__manipulator_1_1RobotisManipulator.html
a2d8c6f3a54a04a509780e4c6c3d1bbc3
()
Manipulator *
getManipulator
classrobotis__manipulator_1_1RobotisManipulator.html
a5c5d26ca7cd655464d453f19cb4d4929
()
bool
getMovingFailState
classrobotis__manipulator_1_1RobotisManipulator.html
ac6c75775af1d04f60e4d9c3f5853caa8
()
bool
getMovingState
classrobotis__manipulator_1_1RobotisManipulator.html
afa3c8994013b876eb38f22b4128f147a
()
Pose
getPose
classrobotis__manipulator_1_1RobotisManipulator.html
a601d652b8eb819eda2356d910e223e62
(Name component_name)
ToolActuator *
getToolActuator
classrobotis__manipulator_1_1RobotisManipulator.html
a1139aba3c29401e3bfca4c0928cea92e
(Name actuator_name)
uint8_t
getToolActuatorId
classrobotis__manipulator_1_1RobotisManipulator.html
a2ae6c2fe6b5e28a277b15b4e38764e21
(Name actuator_name)
std::vector< JointValue >
getToolGoalValue
classrobotis__manipulator_1_1RobotisManipulator.html
ac0816b1c8adeebf66577c88ceea0bf95
()
JointValue
getToolValue
classrobotis__manipulator_1_1RobotisManipulator.html
a5c29e139b37a87f649b8233bd092b3f3
(Name tool_name)
Trajectory *
getTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
a4d6490b231d78e0c7af7de6fd3618c9f
()
double
getTrajectoryMoveTime
classrobotis__manipulator_1_1RobotisManipulator.html
aafbb0e172091a140ceb666fa54140b11
()
Eigen::MatrixXd
jacobian
classrobotis__manipulator_1_1RobotisManipulator.html
a312cc64ae86dca8432769b10a73efd7c
(Name tool_name)
bool
makeCustomTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
aba2b1b5163b27f3c3798101e464c7a52
(Name trajectory_name, const void *arg, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeCustomTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
a86e1f44227a3d404aca6dfcf1f100578
(Name trajectory_name, Name tool_name, const void *arg, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeJointTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
ac1bd38cb6d490dcee6f63c07cb55c993
(Name tool_name, Eigen::Matrix3d goal_orientation, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeJointTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
af38464086321c0a99c2bf50c1bdeb0b2
(Name tool_name, Eigen::Vector3d goal_position, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeJointTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
ad552a7cc60ed5fdee6c3867b4c2317bb
(Name tool_name, KinematicPose goal_pose, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeJointTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
a1ec523e2943d6d5af138b4bd855180ac
(std::vector< double > goal_joint_position, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeJointTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
ac7f884ef38d290b3f0e8eb89022b3b46
(std::vector< JointValue > goal_joint_value, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeJointTrajectoryFromPresentPosition
classrobotis__manipulator_1_1RobotisManipulator.html
a3590ce6c0ee7a74b3379f4547ad00f0e
(std::vector< double > delta_goal_joint_position, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeTaskTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
a10cac970cfb9aa45b9fb781d54cc108b
(Name tool_name, Eigen::Matrix3d goal_orientation, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeTaskTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
a9e7d04ea1c6a25647887b3bad796d915
(Name tool_name, Eigen::Vector3d goal_position, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeTaskTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
af1e96186e4447f9c03cd74a4d5234eeb
(Name tool_name, KinematicPose goal_pose, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeTaskTrajectoryFromPresentPose
classrobotis__manipulator_1_1RobotisManipulator.html
ab81fdd551e91e0cc6816dbe80cff3a59
(Name tool_name, Eigen::Matrix3d orientation_meter, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeTaskTrajectoryFromPresentPose
classrobotis__manipulator_1_1RobotisManipulator.html
ada468019d102cb0e1f5fec3976d74403
(Name tool_name, Eigen::Vector3d position_meter, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeTaskTrajectoryFromPresentPose
classrobotis__manipulator_1_1RobotisManipulator.html
ad45cdd66ca28f463b98957f8cc1d4098
(Name tool_name, KinematicPose goal_pose_delta, double move_time, std::vector< JointValue > present_joint_value={})
bool
makeToolTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
a92da25ea16d3cb62b88a054df4b46d19
(Name tool_name, double tool_goal_position)
void
printManipulatorSetting
classrobotis__manipulator_1_1RobotisManipulator.html
ae0325e6d7e3286a52431c9ecc8fa83e7
()
std::vector< JointValue >
receiveAllJointActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
a445c7e5737940b0a560d715d587eadd5
()
std::vector< JointValue >
receiveAllToolActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
aedef5967547a7c3ddb545d2efdd35b89
()
JointValue
receiveJointActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
a9ebd6f9d02c16ad41eebf0104a9f69cd
(Name joint_component_name)
std::vector< JointValue >
receiveMultipleJointActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
a6affcbccc199ff5fadcf6b827d368c91
(std::vector< Name > joint_component_name)
std::vector< JointValue >
receiveMultipleToolActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
a49ac3c2ae1b40f21bed7df77da3c7afe
(std::vector< Name > tool_component_name)
JointValue
receiveToolActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
a89d6e1651b6a9583b15f65e3fc836185
(Name tool_component_name)
void
resetMovingFailState
classrobotis__manipulator_1_1RobotisManipulator.html
a248d4e279166ba9ad66fd67f05a3e2f8
()
RobotisManipulator
classrobotis__manipulator_1_1RobotisManipulator.html
a46568e9e7167e38bc9f249ead260d07e
()
bool
sendAllJointActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
a0221920a4da676185d166415fc4d2914
(std::vector< JointValue > value_vector)
bool
sendAllToolActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
a38199015be96eda5b890a4d42036633b
(std::vector< JointValue > value_vector)
bool
sendJointActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
a1e7fb766c94010660f5d9c6ffa0d898b
(Name joint_component_name, JointValue value)
bool
sendMultipleJointActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
ad90298397a0c6f9ffa5aa20cce0ab7e2
(std::vector< Name > joint_component_name, std::vector< JointValue > value_vector)
bool
sendMultipleToolActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
a88530b0521cd337c44ba87723135ef9c
(std::vector< Name > tool_component_name, std::vector< JointValue > value_vector)
bool
sendToolActuatorValue
classrobotis__manipulator_1_1RobotisManipulator.html
ac1a87db540f2b546ff39269beb842da8
(Name tool_component_name, JointValue value)
void
setCustomTrajectoryOption
classrobotis__manipulator_1_1RobotisManipulator.html
abd3a5c412832dd7e6a54fb6d19a0b066
(Name trajectory_name, const void *arg)
void
setDynamicsEnvironments
classrobotis__manipulator_1_1RobotisManipulator.html
abfc75c035f1d5816c9e651418f9ad5c9
(STRING param_name, const void *arg)
void
setDynamicsOption
classrobotis__manipulator_1_1RobotisManipulator.html
a0825cf9c5de9fdc17ac34f3293c98ff4
(STRING param_name, const void *arg)
void
setJointActuatorMode
classrobotis__manipulator_1_1RobotisManipulator.html
a12edd33c7cbd31cb1f8d5ab2beafde71
(Name actuator_name, std::vector< uint8_t > id_array, const void *arg)
void
setKinematicsOption
classrobotis__manipulator_1_1RobotisManipulator.html
ad20c00086b950f1148b357fc6883d9fd
(const void *arg)
void
setToolActuatorMode
classrobotis__manipulator_1_1RobotisManipulator.html
a10f6341223566e8cc5a3b504a972b043
(Name actuator_name, const void *arg)
void
setTorqueCoefficient
classrobotis__manipulator_1_1RobotisManipulator.html
a0b18d72f3b29ff6230304f7f3aaca884
(Name component_name, double torque_coefficient)
bool
sleepTrajectory
classrobotis__manipulator_1_1RobotisManipulator.html
a3c7dcba706c1313b41eb239a0de4d6d0
(double wait_time, std::vector< JointValue > present_joint_value={})
void
solveForwardDynamics
classrobotis__manipulator_1_1RobotisManipulator.html
a1d0d4b0d2a45584ce73ef39d06a775ed
(std::map< Name, double > joint_torque)
void
solveForwardKinematics
classrobotis__manipulator_1_1RobotisManipulator.html
a023ebba1d20ff9aa840891584d43464b
()
void
solveForwardKinematics
classrobotis__manipulator_1_1RobotisManipulator.html
a59149616feeeb00d66676d27c78b61c7
(std::vector< JointValue > *goal_joint_value)
bool
solveGravityTerm
classrobotis__manipulator_1_1RobotisManipulator.html
a56a501d9b1dfaa1c5690dacf45e3870e
(std::map< Name, double > *joint_torque)
bool
solveInverseDynamics
classrobotis__manipulator_1_1RobotisManipulator.html
ab1e7cdf7091e99b8570695b2ab2d5843
(std::map< Name, double > *joint_torque)
bool
solveInverseKinematics
classrobotis__manipulator_1_1RobotisManipulator.html
a9a292c755bee7f97f2d8a17b73ce3401
(Name tool_name, Pose goal_pose, std::vector< JointValue > *goal_joint_value)
void
stopMoving
classrobotis__manipulator_1_1RobotisManipulator.html
a16b4bdb27f30fcd5d214679f52b0d60a
()
virtual
~RobotisManipulator
classrobotis__manipulator_1_1RobotisManipulator.html
aa1a5253e03e807911de38637e7d409a6
()
JointWaypoint
getTrajectoryJointValue
classrobotis__manipulator_1_1RobotisManipulator.html
ab8992ad25f80823d213927fc6a9ff74d
(double tick_time, int option=0)
void
startMoving
classrobotis__manipulator_1_1RobotisManipulator.html
a471cb5d00c34dfe28fd260daaf4fd7a7
()
Dynamics *
dynamics_
classrobotis__manipulator_1_1RobotisManipulator.html
a1922d79b031e42019ff0c2104efde02a
bool
dynamics_added_state_
classrobotis__manipulator_1_1RobotisManipulator.html
a2e038ad6e092d681cd5e55cf728eb320
std::map< Name, JointActuator * >
joint_actuator_
classrobotis__manipulator_1_1RobotisManipulator.html
a54dfb941bb2682d321daea25a373ab1c
bool
joint_actuator_added_stete_
classrobotis__manipulator_1_1RobotisManipulator.html
a16f3541bbc26c334103b5b55766fe85d
Kinematics *
kinematics_
classrobotis__manipulator_1_1RobotisManipulator.html
a9a37fd068504dfe5fab346884790fc8f
bool
kinematics_added_state_
classrobotis__manipulator_1_1RobotisManipulator.html
a2a7b5bfe9073631323758f89f018ae57
Manipulator
manipulator_
classrobotis__manipulator_1_1RobotisManipulator.html
a5b2df4a3b3ee7f408cb1d0eaf61644dc
bool
moving_fail_flag_
classrobotis__manipulator_1_1RobotisManipulator.html
a615c0918209e8227e469247defda33bf
bool
moving_state_
classrobotis__manipulator_1_1RobotisManipulator.html
a5b7990548dd779b1ca66a2ad83a74f76
bool
step_moving_state_
classrobotis__manipulator_1_1RobotisManipulator.html
aef8766eb10814f57928dcd9e71ceaccf
std::map< Name, ToolActuator * >
tool_actuator_
classrobotis__manipulator_1_1RobotisManipulator.html
a9d472875a989092466257d14dff2bdcf
bool
tool_actuator_added_stete_
classrobotis__manipulator_1_1RobotisManipulator.html
acbbe2a91cdf87bc6a1eef4e481d0b97e
Trajectory
trajectory_
classrobotis__manipulator_1_1RobotisManipulator.html
a992d2c7221bcaab8e9a688d12728d738
bool
trajectory_initialized_state_
classrobotis__manipulator_1_1RobotisManipulator.html
a6ffca122bf46d7d3bd130cbd7ac9f0e4
robotis_manipulator::TaskTrajectory
classrobotis__manipulator_1_1TaskTrajectory.html
Eigen::MatrixXd
getMinimumJerkCoefficient
classrobotis__manipulator_1_1TaskTrajectory.html
ace7f92380218ee5b15f56ec500ae5337
()
TaskWaypoint
getTaskWaypoint
classrobotis__manipulator_1_1TaskTrajectory.html
a10718a16244458b0240ec357acfa09bd
(double tick)
bool
makeTaskTrajectory
classrobotis__manipulator_1_1TaskTrajectory.html
ae9b419551df713f9fe1795da6b80bf83
(double move_time, TaskWaypoint start, TaskWaypoint goal)
TaskTrajectory
classrobotis__manipulator_1_1TaskTrajectory.html
ab1cef75c638b80f579f960fad91bf3ba
()
virtual
~TaskTrajectory
classrobotis__manipulator_1_1TaskTrajectory.html
a9746e3b18cce92661b766aca6b6d3add
()
uint8_t
coefficient_size_
classrobotis__manipulator_1_1TaskTrajectory.html
a3e18bd8e5e8b327d15afd8831ba099f5
Eigen::MatrixXd
minimum_jerk_coefficient_
classrobotis__manipulator_1_1TaskTrajectory.html
a19c6e0525c29db0b3bad7950baa74e42
MinimumJerk
minimum_jerk_trajectory_generator_
classrobotis__manipulator_1_1TaskTrajectory.html
aa616787d639765003bd054cc7c59f6d3
robotis_manipulator::ToolActuator
classrobotis__manipulator_1_1ToolActuator.html
virtual void
disable
classrobotis__manipulator_1_1ToolActuator.html
afa622c462cd4221645f7004b486359db
()=0
virtual void
enable
classrobotis__manipulator_1_1ToolActuator.html
a8515f35a6b77350af9476e6d0a7c41f3
()=0
bool
findId
classrobotis__manipulator_1_1ToolActuator.html
a6b64dd76b7d473f3a634762422e5951f
(uint8_t actuator_id)
bool
getEnabledState
classrobotis__manipulator_1_1ToolActuator.html
a2a8dc83e93e4c0b965423a2058c9c590
()
virtual uint8_t
getId
classrobotis__manipulator_1_1ToolActuator.html
afd249246d350782587c2e115b0a46e6f
()=0
virtual void
init
classrobotis__manipulator_1_1ToolActuator.html
a81d51f1ce5e2c7afc3244ce106d2acd9
(uint8_t actuator_id, const void *arg)=0
virtual ActuatorValue
receiveToolActuatorValue
classrobotis__manipulator_1_1ToolActuator.html
a5b3d663619610cf739b16efb1b3a580f
()=0
virtual bool
sendToolActuatorValue
classrobotis__manipulator_1_1ToolActuator.html
a5fdb394c44142a588cfefcbf22de11ec
(ActuatorValue value)=0
virtual void
setMode
classrobotis__manipulator_1_1ToolActuator.html
a03b26fd9cfc195aaca7bc2e506847e5e
(const void *arg)=0
ToolActuator
classrobotis__manipulator_1_1ToolActuator.html
a393a1f2eb9247c20b56f679da40cc390
()
virtual
~ToolActuator
classrobotis__manipulator_1_1ToolActuator.html
a0c1149bde6ce9ff31b7291a8d97c46cd
()
bool
enabled_state_
classrobotis__manipulator_1_1ToolActuator.html
ae9bdfbba232f772298d8c3342c125b4a
robotis_manipulator::Trajectory
classrobotis__manipulator_1_1Trajectory.html
void
addCustomTrajectory
classrobotis__manipulator_1_1Trajectory.html
a4d7f38c0e931889ba513dfa1a9fae3df
(Name trajectory_name, CustomJointTrajectory *custom_trajectory)
void
addCustomTrajectory
classrobotis__manipulator_1_1Trajectory.html
a6e35e2a6ce37644e479e188c842f4532
(Name trajectory_name, CustomTaskTrajectory *custom_trajectory)
bool
checkTrajectoryType
classrobotis__manipulator_1_1Trajectory.html
ad611b4f48e92be9c112c36cc2569bb75
(TrajectoryType trajectory_type)
CustomJointTrajectory *
getCustomJointTrajectory
classrobotis__manipulator_1_1Trajectory.html
ac45c691a9fee06027d17ea6e55d688ea
(Name name)
CustomTaskTrajectory *
getCustomTaskTrajectory
classrobotis__manipulator_1_1Trajectory.html
afbfddec6e3015179c30b76d5142f54c3
(Name name)
JointTrajectory
getJointTrajectory
classrobotis__manipulator_1_1Trajectory.html
a378a65986082eb2bc125928b7e56889d
()
Manipulator *
getManipulator
classrobotis__manipulator_1_1Trajectory.html
ae5276de42edf154de107c1f194f6b322
()
double
getMoveTime
classrobotis__manipulator_1_1Trajectory.html
a998cdbaa9895e9a3ea6c7ec49f7b47d9
()
Name
getPresentControlToolName
classrobotis__manipulator_1_1Trajectory.html
a49ba36b57306d92db3214fdf21db75e5
()
Name
getPresentCustomTrajectoryName
classrobotis__manipulator_1_1Trajectory.html
acc33565a63cb8d328170bb8486d910b1
()
JointWaypoint
getPresentJointWaypoint
classrobotis__manipulator_1_1Trajectory.html
a840fce5e4b16eb4ef957ff0aba2bf146
()
TaskWaypoint
getPresentTaskWaypoint
classrobotis__manipulator_1_1Trajectory.html
a74a9251b2c725b3e37c679cbd3102925
(Name tool_name)
TaskTrajectory
getTaskTrajectory
classrobotis__manipulator_1_1Trajectory.html
a1e4ee32908b244fea91919f1013e2e6a
()
double
getTickTime
classrobotis__manipulator_1_1Trajectory.html
aa88cc828dc324d2441cfbafaff15dbb1
()
double
getToolGoalPosition
classrobotis__manipulator_1_1Trajectory.html
a59589016316f09e9f5894c6e47d0e7af
(Name tool_name)
JointValue
getToolGoalValue
classrobotis__manipulator_1_1Trajectory.html
af731f5f58a734655772c56467488262f
(Name tool_name)
void
initTrajectoryWaypoint
classrobotis__manipulator_1_1Trajectory.html
ae20193ba6005cc18a55d0a4e1a325c84
(Manipulator actual_manipulator, Kinematics *kinematics=nullptr)
bool
makeCustomTrajectory
classrobotis__manipulator_1_1Trajectory.html
ab1770f8cbea46b9e58eb63deadde8ae7
(Name trajectory_name, JointWaypoint start_way_point, const void *arg)
bool
makeCustomTrajectory
classrobotis__manipulator_1_1Trajectory.html
aff50f61da9d6d766bdbe18d902aad180
(Name trajectory_name, TaskWaypoint start_way_point, const void *arg)
bool
makeJointTrajectory
classrobotis__manipulator_1_1Trajectory.html
a7f61c9d33e8eeac06e032a80c927e2be
(JointWaypoint start_way_point, JointWaypoint goal_way_point)
bool
makeTaskTrajectory
classrobotis__manipulator_1_1Trajectory.html
a4989fba5c73a303ee3fe063622976f99
(TaskWaypoint start_way_point, TaskWaypoint goal_way_point)
JointWaypoint
removeWaypointDynamicData
classrobotis__manipulator_1_1Trajectory.html
a3e05d461f6bdf874a58a6a35ff6ce351
(JointWaypoint value)
TaskWaypoint
removeWaypointDynamicData
classrobotis__manipulator_1_1Trajectory.html
a1740e6f16d5428083a7a3338bca70702
(TaskWaypoint value)
void
setCustomTrajectoryOption
classrobotis__manipulator_1_1Trajectory.html
a9376519929c9ac310590f92784950ed3
(Name trajectory_name, const void *arg)
void
setManipulator
classrobotis__manipulator_1_1Trajectory.html
a19b2f886aff8fcb4bef369f2a8e0fac0
(Manipulator manipulator)
void
setMoveTime
classrobotis__manipulator_1_1Trajectory.html
a0c400f1108635495fe7fc6cdae8bc8bb
(double move_time)
void
setPresentControlToolName
classrobotis__manipulator_1_1Trajectory.html
a6ffae7998c29d372196b83ed63eb0540
(Name present_control_tool_name)
void
setPresentJointWaypoint
classrobotis__manipulator_1_1Trajectory.html
a58b1d4fb60f7e3ed9150d312766debc1
(JointWaypoint joint_value_vector)
void
setPresentTaskWaypoint
classrobotis__manipulator_1_1Trajectory.html
a043c122ac281c223eb73303255981d17
(Name tool_name, TaskWaypoint tool_position_value_vector)
void
setPresentTime
classrobotis__manipulator_1_1Trajectory.html
a187822acb94ca96938ebc06019ffc73e
(double present_time)
void
setStartTime
classrobotis__manipulator_1_1Trajectory.html
a1c964bc02b44d87e1f7d02c446ab0f5d
(double start_time)
void
setStartTimeToPresentTime
classrobotis__manipulator_1_1Trajectory.html
ad11707f44e3b0cefdb5f60b6c4f3ab77
()
bool
setToolGoalPosition
classrobotis__manipulator_1_1Trajectory.html
a58e1916e5faa705928192d358ca000d9
(Name tool_name, double tool_goal_position)
bool
setToolGoalValue
classrobotis__manipulator_1_1Trajectory.html
a1c1a40a1f6568015cb51082e66579ba9
(Name tool_name, JointValue tool_goal_value)
void
setTrajectoryType
classrobotis__manipulator_1_1Trajectory.html
ae08c22d6ab0608b4e1ec7e0996caf96e
(TrajectoryType trajectory_type)
Trajectory
classrobotis__manipulator_1_1Trajectory.html
ae549cd04019f4a985addb26c6a7ee1a1
()
void
updatePresentWaypoint
classrobotis__manipulator_1_1Trajectory.html
a05e95f1473723592130f63321664fb0c
(Kinematics *kinematics)
~Trajectory
classrobotis__manipulator_1_1Trajectory.html
a89ee3aa113de35bced88abecbdb0b25e
()
std::map< Name, CustomJointTrajectory * >
cus_joint_
classrobotis__manipulator_1_1Trajectory.html
a4424c07ba6cdfb08ca84fff0e2284f67
std::map< Name, CustomTaskTrajectory * >
cus_task_
classrobotis__manipulator_1_1Trajectory.html
a1b02b691bf591629f4abf8478c437216
JointTrajectory
joint_
classrobotis__manipulator_1_1Trajectory.html
a3d59b0625d5d7033d42fb4b5ee64ba1b
Manipulator
manipulator_
classrobotis__manipulator_1_1Trajectory.html
acd9fd9ae6cc065a10d9d438cda1081de
Name
present_control_tool_name_
classrobotis__manipulator_1_1Trajectory.html
a497b1c21424ec3a0476cf4c96a951223
Name
present_custom_trajectory_name_
classrobotis__manipulator_1_1Trajectory.html
aaeb1b7b142b7dd04ca7410e758549254
TaskTrajectory
task_
classrobotis__manipulator_1_1Trajectory.html
a15902dd84985ac133318a1ac58eae093
Time
trajectory_time_
classrobotis__manipulator_1_1Trajectory.html
ab6bc1ea3ef5611ddf84667040bf47ceb
TrajectoryType
trajectory_type_
classrobotis__manipulator_1_1Trajectory.html
ad21a6583cfce56cc25ea8469d77293ec
robotis_manipulator
namespacerobotis__manipulator.html
robotis_manipulator::log
robotis_manipulator::math
robotis_manipulator::_ChainingName
robotis_manipulator::_Component
robotis_manipulator::_DynamicPose
robotis_manipulator::_Dynamicvector
robotis_manipulator::_Force
robotis_manipulator::_Inertia
robotis_manipulator::_JointConstant
robotis_manipulator::_KinematicPose
robotis_manipulator::_Limit
robotis_manipulator::_Moment
robotis_manipulator::_Object
robotis_manipulator::_Point
robotis_manipulator::_Relative
robotis_manipulator::_TaskWaypoint
robotis_manipulator::_Time
robotis_manipulator::_World
robotis_manipulator::CustomJointTrajectory
robotis_manipulator::CustomTaskTrajectory
robotis_manipulator::Dynamics
robotis_manipulator::JointActuator
robotis_manipulator::JointTrajectory
robotis_manipulator::Kinematics
robotis_manipulator::Manipulator
robotis_manipulator::MinimumJerk
robotis_manipulator::RobotisManipulator
robotis_manipulator::TaskTrajectory
robotis_manipulator::ToolActuator
robotis_manipulator::Trajectory
struct robotis_manipulator::_Point
ActuatorValue
namespacerobotis__manipulator.html
abc9f44bb91d98df303ff0e9e8d254359
struct robotis_manipulator::_ChainingName
ChainingName
namespacerobotis__manipulator.html
a40048b873b0e183992b4b5228c34399b
struct robotis_manipulator::_Component
Component
namespacerobotis__manipulator.html
a32fcffa28d5260886bebcb92be27a78a
enum robotis_manipulator::_ComponentType
ComponentType
namespacerobotis__manipulator.html
abed38b600b21f6457c356de8e5944879
struct robotis_manipulator::_DynamicPose
DynamicPose
namespacerobotis__manipulator.html
ab8a4eae6104dc678d09007e5f5fcf4e9
struct robotis_manipulator::_Dynamicvector
Dynamicvector
namespacerobotis__manipulator.html
adddff7e8acf6d2ff7e362c3f81fb17ec
struct robotis_manipulator::_Force
Force
namespacerobotis__manipulator.html
a98524df0cbabb5d36982bf21a48578e5
struct robotis_manipulator::_Inertia
Inertia
namespacerobotis__manipulator.html
a519eaf760a47a0e779a7ab2a96e91eee
struct robotis_manipulator::_JointConstant
JointConstant
namespacerobotis__manipulator.html
a2988e3049f3ace3208415118547b9c6f
struct robotis_manipulator::_Point
JointValue
namespacerobotis__manipulator.html
a9e514088de5e26379a6afc1d09e33565
std::vector< JointValue >
JointWaypoint
namespacerobotis__manipulator.html
a4456fd8b14e1f6b7733a77837dfe9339
struct robotis_manipulator::_KinematicPose
KinematicPose
namespacerobotis__manipulator.html
a73a72161fe82d110df6bab8c42ff2665
struct robotis_manipulator::_Limit
Limit
namespacerobotis__manipulator.html
ad664b3071d2defd7b8885bc81fb923bc
struct robotis_manipulator::_Moment
Moment
namespacerobotis__manipulator.html
a9c13f87eb8be0adce8ac27c1fd662b42
STRING
Name
namespacerobotis__manipulator.html
a08c2d25e77a01ad75b9bb740f8ce4765
struct robotis_manipulator::_Object
Object
namespacerobotis__manipulator.html
a3ff284bc447fcccc7a0e1bf9aa865ee9
struct robotis_manipulator::_Point
Point
namespacerobotis__manipulator.html
a37066cb7ce50cb7578c9b0f14527d07e
struct robotis_manipulator::_TaskWaypoint
Pose
namespacerobotis__manipulator.html
af756b9e1b05714faf3909a1c079a6794
struct robotis_manipulator::_Relative
Relative
namespacerobotis__manipulator.html
ab08d95e9fd36d0681ab1a75846a491f9
struct robotis_manipulator::_TaskWaypoint
TaskWaypoint
namespacerobotis__manipulator.html
a3dafa2ac028a3dd18ffa69655a6e0ff8
struct robotis_manipulator::_Time
Time
namespacerobotis__manipulator.html
a61187dc6bfdfb9bbb877aa2ae958ddd8
struct robotis_manipulator::_Point
ToolValue
namespacerobotis__manipulator.html
ad932d9e220494a80479608eec745471f
enum robotis_manipulator::_TrajectoryType
TrajectoryType
namespacerobotis__manipulator.html
a0029d59f6eabe294556eb2c1e972b819
struct robotis_manipulator::_World
World
namespacerobotis__manipulator.html
a4514d56d0c5ad12d88c9f80ba747f12c
_ComponentType
namespacerobotis__manipulator.html
a0dc6c68ab0722251921d740a6c322a51
PASSIVE_JOINT_COMPONENT
namespacerobotis__manipulator.html
a0dc6c68ab0722251921d740a6c322a51a48d9e14bdd971b547f0b4bfcbf8588e7
ACTIVE_JOINT_COMPONENT
namespacerobotis__manipulator.html
a0dc6c68ab0722251921d740a6c322a51acdf3b34914d1a2a028d882beb96fba7c
TOOL_COMPONENT
namespacerobotis__manipulator.html
a0dc6c68ab0722251921d740a6c322a51a7d53623544fe889894c54a988f503de0
_TrajectoryType
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116
NONE
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116abe18ccc5ef07711d5fec3eed3304d2fe
JOINT_TRAJECTORY
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116a093d62b8684b778b26a1dc4a56239f3a
TASK_TRAJECTORY
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116ac3afdf4e66570420074ba4de482896c2
CUSTOM_JOINT_TRAJECTORY
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116ae214e80a3aedf656b76a8863f0f9d169
CUSTOM_TASK_TRAJECTORY
namespacerobotis__manipulator.html
a203a3e974ea613ed86e373895b79c116adda2674cede8ff709aa757c0b9e75c06
bool
setEffortToValue
namespacerobotis__manipulator.html
a4204814bbb0701741c4201fd5090895c
(std::vector< JointValue > *value, std::vector< double > effort)
bool
setPositionToValue
namespacerobotis__manipulator.html
a7d7bc48f455d444752019c525f230865
(std::vector< JointValue > *value, std::vector< double > position)
robotis_manipulator::log
namespacerobotis__manipulator_1_1log.html
void
error
namespacerobotis__manipulator_1_1log.html
a13df150c610fb95cf665a6d0673509b3
(const char *str)
void
error
namespacerobotis__manipulator_1_1log.html
a19ab54a58a24d8f90c05cc10991561f4
(const char *str, double data, uint8_t decimal_point=3)
void
error
namespacerobotis__manipulator_1_1log.html
a6a84cb5481107ad244344093086fb557
(STRING str)
void
error
namespacerobotis__manipulator_1_1log.html
a2faeaa077a29ebfbdb2068f383574910
(STRING str, double data, uint8_t decimal_point=3)
void
info
namespacerobotis__manipulator_1_1log.html
a505032270cb596ee01dfc8e3030dc2c7
(const char *str)
void
info
namespacerobotis__manipulator_1_1log.html
af5acc2141dc021f203cccc3ca3120d92
(const char *str, double data, uint8_t decimal_point=3)
void
info
namespacerobotis__manipulator_1_1log.html
ae9b5a4788629e0abb0a29e2868d6d79e
(STRING str)
void
info
namespacerobotis__manipulator_1_1log.html
a530c16a6f6f6d7fe007ec32836af28a8
(STRING str, double data, uint8_t decimal_point=3)
void
print
namespacerobotis__manipulator_1_1log.html
a66839de0f964739cad9aa81383a9d651
(const char *str, double data, uint8_t decimal_point=3, STRING color="DEFAULT")
void
print
namespacerobotis__manipulator_1_1log.html
a8542b07bf2d0593a159d4e69cb19eceb
(const char *str, STRING color="DEFAULT")
void
print
namespacerobotis__manipulator_1_1log.html
ae2a75986a4f1075ab21646ff1fa5a21a
(STRING str, double data, uint8_t decimal_point=3, STRING color="DEFAULT")
void
print
namespacerobotis__manipulator_1_1log.html
ae01dad0f024eca3ad53f068204f6f293
(STRING str, STRING color="DEFAULT")
void
print_matrix
namespacerobotis__manipulator_1_1log.html
a84a7b621371c31dda949686b97b0d216
(matrix &m, uint8_t decimal_point=3)
void
print_vector
namespacerobotis__manipulator_1_1log.html
ab016bbac8ea97650fc14bd1be2ccdec5
(std::vector< T > &vec, uint8_t decimal_point=3)
void
print_vector
namespacerobotis__manipulator_1_1log.html
a389a6cffbc5d0fad712e0eac8507a2ec
(vector &vec, uint8_t decimal_point=3)
void
println
namespacerobotis__manipulator_1_1log.html
a9582bb9bfbc4a4695975ed9e3320e3a0
(const char *str, double data, uint8_t decimal_point=3, STRING color="DEFAULT")
void
println
namespacerobotis__manipulator_1_1log.html
a950fa4b4f6a187c52e5d0721c1be551c
(const char *str, STRING color="DEFAULT")
void
println
namespacerobotis__manipulator_1_1log.html
a9e7dea27daabd2ac128133832a7e8db8
(STRING str, double data, uint8_t decimal_point=3, STRING color="DEFAULT")
void
println
namespacerobotis__manipulator_1_1log.html
a4a6b5b7c361aa2c61631d2c2fcfdf065
(STRING str, STRING color="DEFAULT")
void
warn
namespacerobotis__manipulator_1_1log.html
adcfad83d39b25e03a57b8cb20283606b
(const char *str)
void
warn
namespacerobotis__manipulator_1_1log.html
a6b4909ba686cc8ca3f5e4ee9b3eb5ec1
(const char *str, double data, uint8_t decimal_point=3)
void
warn
namespacerobotis__manipulator_1_1log.html
a0b7fa98d31c1beaf1c7d0989723a5fa2
(STRING str)
void
warn
namespacerobotis__manipulator_1_1log.html
aac4f8d437de82deb67e7e9c4688dfcdc
(STRING str, double data, uint8_t decimal_point=3)
robotis_manipulator::math
namespacerobotis__manipulator_1_1math.html
Eigen::Vector3d
convertOmegaDotToRPYAcceleration
namespacerobotis__manipulator_1_1math.html
aabd3cc7c059a6372e917bc98a3e5c1dd
(Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity, Eigen::Vector3d omega_dot)
Eigen::Vector3d
convertOmegaToRPYVelocity
namespacerobotis__manipulator_1_1math.html
ae69e1aacc48ed72442eb4dc82e280be0
(Eigen::Vector3d rpy_vector, Eigen::Vector3d omega)
Eigen::Matrix3d
convertPitchAngleToRotationMatrix
namespacerobotis__manipulator_1_1math.html
aa6112f12db3755d6677f45c9e0806cbf
(double angle)
Eigen::Matrix3d
convertQuaternionToRotationMatrix
namespacerobotis__manipulator_1_1math.html
a7a7c421fe85e75a3897a4c0c492bb662
(const Eigen::Quaterniond &quaternion)
Eigen::Vector3d
convertQuaternionToRPYVector
namespacerobotis__manipulator_1_1math.html
a5d6107f6a65d430f3eee81f93327c37a
(const Eigen::Quaterniond &quaternion)
Eigen::Matrix3d
convertRollAngleToRotationMatrix
namespacerobotis__manipulator_1_1math.html
ab7682932090e254cb077badb80fe8667
(double angle)
Eigen::Vector3d
convertRotationMatrixToOmega
namespacerobotis__manipulator_1_1math.html
a0659ad2d283ad43e01eca23f0be6a134
(const Eigen::Matrix3d &rotation_matrix)
Eigen::Quaterniond
convertRotationMatrixToQuaternion
namespacerobotis__manipulator_1_1math.html
ae5a4fd98d1cef4a4b1224b19daff63bf
(const Eigen::Matrix3d &rotation_matrix)
Eigen::Vector3d
convertRotationMatrixToRPYVector
namespacerobotis__manipulator_1_1math.html
adaa070908c6328c2459be5eaf64af68f
(const Eigen::Matrix3d &rotation_matrix)
Eigen::Vector3d
convertRPYAccelerationToOmegaDot
namespacerobotis__manipulator_1_1math.html
a752d1631596538515894f09f210eb17b
(Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity, Eigen::Vector3d rpy_acceleration)
Eigen::Quaterniond
convertRPYToQuaternion
namespacerobotis__manipulator_1_1math.html
aa1d5ec03193d986594c03ab884126416
(double roll, double pitch, double yaw)
Eigen::Matrix3d
convertRPYToRotationMatrix
namespacerobotis__manipulator_1_1math.html
a4bbc795e8c06dd0472ed25864f6ec886
(double roll, double pitch, double yaw)
Eigen::Matrix4d
convertRPYToTransformationMatrix
namespacerobotis__manipulator_1_1math.html
a82a56f3cb0404e06bf37f2e167c839ef
(double roll, double pitch, double yaw)
Eigen::Vector3d
convertRPYVelocityToOmega
namespacerobotis__manipulator_1_1math.html
a73d50f3962eeac18f464f879e6a0c8fc
(Eigen::Vector3d rpy_vector, Eigen::Vector3d rpy_velocity)
Eigen::Matrix4d
convertXYZRPYToTransformationMatrix
namespacerobotis__manipulator_1_1math.html
a5f001cf17bbf0daaaacd46f58d3f6e8a
(double x, double y, double z, double roll, double pitch, double yaw)
Eigen::Matrix4d
convertXYZToTransformationMatrix
namespacerobotis__manipulator_1_1math.html
a0e864bea906520574b93496db74427f0
(double x, double y, double z)
Eigen::Vector3d
convertXYZToVector
namespacerobotis__manipulator_1_1math.html
acb3c85751c21502d8d23a13cc08b3cf5
(double x, double y, double z)
Eigen::Matrix3d
convertYawAngleToRotationMatrix
namespacerobotis__manipulator_1_1math.html
a0a45b10176c2a214876aa265ec8e707e
(double angle)
Eigen::VectorXd
dynamicPoseDifference
namespacerobotis__manipulator_1_1math.html
af5377134f43544caac22f6e51c72dd28
(Eigen::Vector3d desired_linear_velocity, Eigen::Vector3d present_linear_velocity, Eigen::Vector3d desired_angular_velocity, Eigen::Vector3d present_angular_velocity)
Eigen::Matrix3d
inertiaMatrix
namespacerobotis__manipulator_1_1math.html
a34ebf1c9f0f64e52807fd9798a7d87c8
(double ixx, double ixy, double ixz, double iyy, double iyz, double izz)
Eigen::Matrix4d
inverseTransformationMatrix
namespacerobotis__manipulator_1_1math.html
a0e23b77220a7f83814de154838a47be7
(const Eigen::MatrixXd &transformation_matrix)
Eigen::Matrix3d
matrix3
namespacerobotis__manipulator_1_1math.html
a22fb2daaef2f7943fa0dbd7a24e0fd4d
(double m11, double m12, double m13, double m21, double m22, double m23, double m31, double m32, double m33)
Eigen::Vector3d
matrixLogarithm
namespacerobotis__manipulator_1_1math.html
a38b3c7716c5b8a29a75d8b3243eb75e7
(Eigen::Matrix3d rotation_matrix)
Eigen::Vector3d
orientationDifference
namespacerobotis__manipulator_1_1math.html
a26796dad948a40bc2c0ac2c139ed85f0
(Eigen::Matrix3d desired_orientation, Eigen::Matrix3d present_orientation)
Eigen::VectorXd
poseDifference
namespacerobotis__manipulator_1_1math.html
a5bf9202c405abf15e234505842bf7361
(Eigen::Vector3d desired_position, Eigen::Vector3d present_position, Eigen::Matrix3d desired_orientation, Eigen::Matrix3d present_orientation)
Eigen::Vector3d
positionDifference
namespacerobotis__manipulator_1_1math.html
ab4f15d22dddddc5f712de188ba0f85f4
(Eigen::Vector3d desired_position, Eigen::Vector3d present_position)
Eigen::Matrix3d
rodriguesRotationMatrix
namespacerobotis__manipulator_1_1math.html
a515d31a7d3b19cce814cd121717bcb60
(Eigen::Vector3d axis, double angle)
double
sign
namespacerobotis__manipulator_1_1math.html
a27a6dd481239e8377185dac85cf9cd77
(double value)
Eigen::Matrix3d
skewSymmetricMatrix
namespacerobotis__manipulator_1_1math.html
a03bf0fffc828339f2216fd4a98a32923
(Eigen::Vector3d v)
Eigen::Vector3d
vector3
namespacerobotis__manipulator_1_1math.html
a057ca65131575b85aec169f3a50ed796
(double v1, double v2, double v3)