controller::Kin< Joints > Struct Template Reference

#include <jt_cartesian_controller.h>

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

Detailed Description

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

Definition at line 66 of file jt_cartesian_controller.h.

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.

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.

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.

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