types.h

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#ifndef TESSERACT_KINEMATICS_TYPES_H
#define TESSERACT_KINEMATICS_TYPES_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <vector>
#include <Eigen/Core>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
namespace tesseract_kinematics
{
using IKSolutions = std::vector<Eigen::VectorXd>;
 
struct URParameters
{
  URParameters() = default;
  URParameters(double d1, double a2, double a3, double d4, double d5, double d6)
    : d1(d1), a2(a2), a3(a3), d4(d4), d5(d5), d6(d6)
  {
  }
 
  double d1{ 0 };
  double a2{ 0 };
  double a3{ 0 };
  double d4{ 0 };
  double d5{ 0 };
  double d6{ 0 };
};
 
const static URParameters UR10Parameters(0.1273, -0.612, -0.5723, 0.163941, 0.1157, 0.0922);
 
const static URParameters UR5Parameters(0.089159, -0.42500, -0.39225, 0.10915, 0.09465, 0.0823);
 
const static URParameters UR3Parameters(0.1519, -0.24365, -0.21325, 0.11235, 0.08535, 0.0819);
 
const static URParameters UR10eParameters(0.1807, -0.6127, -0.57155, 0.17415, 0.11985, 0.11655);
 
const static URParameters UR5eParameters(0.1625, -0.425, -0.3922, 0.1333, 0.0997, 0.0996);
 
const static URParameters UR3eParameters(0.15185, -0.24355, -0.2132, 0.13105, 0.08535, 0.0921);
 
}  // namespace tesseract_kinematics
#endif  // TESSERACT_KINEMATICS_TYPES_H