Constraint to specify cartesian goal orientation (XYZ rotation) More...
#include <goal_tool_orientation.h>
Public Member Functions | |
| virtual Eigen::VectorXd | calcError () |
| Rotation to get from current orientation to goal orientation Resolve into primary vectors (x,y,z) of tool coordinate system Each element is multiplied by corresponding element in weight_. | |
| virtual Eigen::MatrixXd | calcJacobian () |
| Jacobian is the last three rows of standard jacobian (in tool frame). Equivalent to each axis of rotation expressed in tool frame coordinates. Each row is scaled by the corresponding element of weight_. | |
| GoalToolOrientation () | |
| virtual | ~GoalToolOrientation () |
Detailed Description
Constraint to specify cartesian goal orientation (XYZ rotation)
Definition at line 34 of file goal_tool_orientation.h.
Constructor & Destructor Documentation
Definition at line 31 of file goal_tool_orientation.cpp.
| virtual constrained_ik::constraints::GoalToolOrientation::~GoalToolOrientation | ( | ) | [inline, virtual] |
Definition at line 38 of file goal_tool_orientation.h.
Member Function Documentation
| Eigen::VectorXd constrained_ik::constraints::GoalToolOrientation::calcError | ( | ) | [virtual] |
Rotation to get from current orientation to goal orientation Resolve into primary vectors (x,y,z) of tool coordinate system Each element is multiplied by corresponding element in weight_.
- Returns:
- Rotation from current to goal expressed in tool frame, scaled by weight_
Reimplemented from constrained_ik::constraints::GoalOrientation.
Definition at line 35 of file goal_tool_orientation.cpp.
| Eigen::MatrixXd constrained_ik::constraints::GoalToolOrientation::calcJacobian | ( | ) | [virtual] |
Jacobian is the last three rows of standard jacobian (in tool frame). Equivalent to each axis of rotation expressed in tool frame coordinates. Each row is scaled by the corresponding element of weight_.
- Returns:
- Last 3 rows of standard jacobian expressed in tool frame, scaled by weight_
Reimplemented from constrained_ik::constraints::GoalOrientation.
Definition at line 46 of file goal_tool_orientation.cpp.
The documentation for this class was generated from the following files: