Classes | Typedefs | Functions
ur_kinematics Namespace Reference

Classes

class  URKinematicsPlugin
 Specific implementation of kinematics using KDL. This version can be used with any robot. More...

Typedefs

typedef std::pair< int, double > idx_double

Functions

bool comparator (const idx_double &l, const idx_double &r)
void forward (const double *q, double *T)
void forward_all (const double *q, double *T1, double *T2, double *T3, double *T4, double *T5, double *T6)
int inverse (const double *T, double *q_sols, double q6_des=0.0)

Typedef Documentation

typedef std::pair<int, double> ur_kinematics::idx_double

Definition at line 554 of file ur_moveit_plugin.cpp.


Function Documentation

bool ur_kinematics::comparator ( const idx_double &  l,
const idx_double &  r 
)

Definition at line 555 of file ur_moveit_plugin.cpp.

void ur_kinematics::forward ( const double *  q,
double *  T 
)

Definition at line 47 of file ur_kin.cpp.

void ur_kinematics::forward_all ( const double *  q,
double *  T1,
double *  T2,
double *  T3,
double *  T4,
double *  T5,
double *  T6 
)

Definition at line 79 of file ur_kin.cpp.

int ur_kinematics::inverse ( const double *  T,
double *  q_sols,
double  q6_des = 0.0 
)

Definition at line 205 of file ur_kin.cpp.



ur_kinematics
Author(s): Kelsey Hawkins
autogenerated on Thu Jun 6 2019 18:26:23