Public Types | Public Member Functions | Public Attributes
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

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

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.


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


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Fri Jan 3 2014 11:41:37