performs the successive nullspace calculations for the whole body framework More...
#include <WholeBodyCalc.h>
Public Member Functions | |
| Eigen::MatrixXd | calcPinv (const Eigen::MatrixXd &in) |
| const KDL::JntArray & | project (const KDL::JntArray &torques, const TreeChain &tc) |
| project torques through the current nullspace, add the nullspace of tc for the next call | |
| const KDL::JntArray & | project (const KDL::JntArray &torques) |
| project torques through the current nullspace but leave the nullspace the same | |
| void | reset () |
| WholeBodyCalc () | |
| WholeBodyCalc (const KDL::Tree &tree) | |
Private Attributes | |
| Eigen::MatrixXd | I |
| Eigen::MatrixXd | Jsum |
| Eigen::MatrixXd | N |
| KDL::JntArray | result |
| int | tree_size |
performs the successive nullspace calculations for the whole body framework
Definition at line 37 of file WholeBodyCalc.h.
| WholeBodyCalc::WholeBodyCalc | ( | ) | [inline] |
Definition at line 46 of file WholeBodyCalc.h.
| WholeBodyCalc::WholeBodyCalc | ( | const KDL::Tree & | tree | ) | [inline] |
Definition at line 47 of file WholeBodyCalc.h.
| Eigen::MatrixXd WholeBodyCalc::calcPinv | ( | const Eigen::MatrixXd & | in | ) |
Definition at line 46 of file r2_impedance_controller.cpp.
| const KDL::JntArray& WholeBodyCalc::project | ( | const KDL::JntArray & | torques, |
| const TreeChain & | tc | ||
| ) | [inline] |
project torques through the current nullspace, add the nullspace of tc for the next call
Definition at line 64 of file WholeBodyCalc.h.
| const KDL::JntArray& WholeBodyCalc::project | ( | const KDL::JntArray & | torques | ) | [inline] |
project torques through the current nullspace but leave the nullspace the same
Definition at line 74 of file WholeBodyCalc.h.
| void WholeBodyCalc::reset | ( | ) | [inline] |
Definition at line 58 of file WholeBodyCalc.h.
Eigen::MatrixXd WholeBodyCalc::I [private] |
Definition at line 39 of file WholeBodyCalc.h.
Eigen::MatrixXd WholeBodyCalc::Jsum [private] |
Definition at line 38 of file WholeBodyCalc.h.
Eigen::MatrixXd WholeBodyCalc::N [private] |
Definition at line 40 of file WholeBodyCalc.h.
KDL::JntArray WholeBodyCalc::result [private] |
Definition at line 41 of file WholeBodyCalc.h.
int WholeBodyCalc::tree_size [private] |
Definition at line 43 of file WholeBodyCalc.h.