hebi::robot_model Namespace Reference

Classes
class	ActuatorMetadata
	Actuator specific view of an element in a RobotModel instance. More...
class	BracketMetadata
	Bracket specific view of an element in a RobotModel instance. More...
class	CustomObjective
	Allows you to add a custom objective function. More...
class	EndEffectorPositionObjective
class	EndEffectorSO3Objective
class	EndEffectorTipAxisObjective
struct	IKResult
class	JointLimitConstraint
class	JointMetadata
	Joint specific view of an element in a RobotModel instance. More...
class	LinkMetadata
	Link specific view of an element in a RobotModel instance. More...
class	MetadataBase
	Base class for all metadata. Do not instantiate directly. More...
class	Objective
class	RigidBodyMetadata
	Rigid Body specific view of an element in a RobotModel instance. More...
class	RobotModel
	Represents a chain or tree of robot elements (rigid bodies and joints). More...

Typedefs
using	Matrix4dVector = std::vector< Matrix4d, Eigen::aligned_allocator< Eigen::Matrix4d >>
using	MatrixXdVector = std::vector< MatrixXd, Eigen::aligned_allocator< Eigen::MatrixXd >>

Enumerations
enum	ActuatorType {   ActuatorType::X5_1 = HebiActuatorTypeX5_1, ActuatorType::X5_4 = HebiActuatorTypeX5_4, ActuatorType::X5_9 = HebiActuatorTypeX5_9, ActuatorType::X8_3 = HebiActuatorTypeX8_3,   ActuatorType::X8_9 = HebiActuatorTypeX8_9, ActuatorType::X8_16 = HebiActuatorTypeX8_16, ActuatorType::R8_3 = HebiActuatorTypeR8_3, ActuatorType::R8_9 = HebiActuatorTypeR8_9,   ActuatorType::R8_16 = HebiActuatorTypeR8_16 }
enum	BracketType {   BracketType::X5LightLeft = HebiBracketTypeX5LightLeft, BracketType::X5LightRight = HebiBracketTypeX5LightRight, BracketType::X5HeavyLeftInside = HebiBracketTypeX5HeavyLeftInside, BracketType::X5HeavyLeftOutside = HebiBracketTypeX5HeavyLeftOutside,   BracketType::X5HeavyRightInside = HebiBracketTypeX5HeavyRightInside, BracketType::X5HeavyRightOutside = HebiBracketTypeX5HeavyRightOutside, BracketType::R8LightLeft = HebiBracketTypeR8LightLeft, BracketType::R8LightRight = HebiBracketTypeR8LightRight,   BracketType::R8HeavyLeftInside = HebiBracketTypeR8HeavyLeftInside, BracketType::R8HeavyLeftOutside = HebiBracketTypeR8HeavyLeftOutside, BracketType::R8HeavyRightInside = HebiBracketTypeR8HeavyRightInside, BracketType::R8HeavyRightOutside = HebiBracketTypeR8HeavyRightOutside }
enum	ElementType {   ElementType::Other = HebiRobotModelElementTypeOther, ElementType::Actuator = HebiRobotModelElementTypeActuator, ElementType::Bracket = HebiRobotModelElementTypeBracket, ElementType::Joint = HebiRobotModelElementTypeJoint,   ElementType::Link = HebiRobotModelElementTypeLink, ElementType::RigidBody = HebiRobotModelElementTypeRigidBody, ElementType::EndEffector = HebiRobotModelElementTypeEndEffector }
enum	EndEffectorType { EndEffectorType::Custom = HebiEndEffectorTypeCustom, EndEffectorType::X5Parallel = HebiEndEffectorTypeX5Parallel, EndEffectorType::R8Parallel = HebiEndEffectorTypeR8Parallel }
enum	FrameType { FrameType::CenterOfMass = HebiFrameTypeCenterOfMass, FrameType::Output = HebiFrameTypeOutput, FrameType::EndEffector = HebiFrameTypeEndEffector, FrameType::Input = HebiFrameTypeInput }
enum	JointType {   JointType::RotationX = HebiJointTypeRotationX, JointType::RotationY = HebiJointTypeRotationY, JointType::RotationZ = HebiJointTypeRotationZ, JointType::TranslationX = HebiJointTypeTranslationX,   JointType::TranslationY = HebiJointTypeTranslationY, JointType::TranslationZ = HebiJointTypeTranslationZ }
enum	LinkInputType { LinkInputType::RightAngle = HebiLinkInputTypeRightAngle, LinkInputType::Inline = HebiLinkInputTypeInline }
enum	LinkOutputType { LinkOutputType::RightAngle = HebiLinkOutputTypeRightAngle, LinkOutputType::Inline = HebiLinkOutputTypeInline }
enum	LinkType { LinkType::X5 = HebiLinkTypeX5, LinkType::X8 = HebiLinkTypeR8 }

Functions
template<size_t T>
void	custom_objective_callback_wrapper (void *user_data, size_t num_positions, const double *positions, double *errors)
	C-style callback wrapper to call into CustomObjective class; this should only be used by the CustomObjective class itself. More...

Typedef Documentation

using hebi::robot_model::Matrix4dVector = typedef std::vector<Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>>

Definition at line 16 of file robot_model.hpp.

using hebi::robot_model::MatrixXdVector = typedef std::vector<MatrixXd, Eigen::aligned_allocator<Eigen::MatrixXd>>

Definition at line 17 of file robot_model.hpp.

Enumeration Type Documentation

enum typedef robot_model::ActuatorType hebi::robot_model::RobotModel::hebi::robot_model::ActuatorType

strong

Enumerator
X5_1
X5_4
X5_9
X8_3
X8_9
X8_16
R8_3
R8_9
R8_16

Definition at line 222 of file robot_model.hpp.

enum typedef robot_model::BracketType hebi::robot_model::RobotModel::hebi::robot_model::BracketType

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Enumerator
X5LightLeft
X5LightRight
X5HeavyLeftInside
X5HeavyLeftOutside
X5HeavyRightInside
X5HeavyRightOutside
R8LightLeft
R8LightRight
R8HeavyLeftInside
R8HeavyLeftOutside
R8HeavyRightInside
R8HeavyRightOutside

Definition at line 249 of file robot_model.hpp.

enum hebi::robot_model::ElementType

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Enumerator
Other
Actuator
Bracket
Joint
Link
RigidBody
EndEffector

Definition at line 196 of file robot_model.hpp.

enum hebi::robot_model::EndEffectorType

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Enumerator
Custom
X5Parallel
R8Parallel

Definition at line 264 of file robot_model.hpp.

enum hebi::robot_model::FrameType

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Enumerator
CenterOfMass
Output
EndEffector
Input

Definition at line 206 of file robot_model.hpp.

enum hebi::robot_model::JointType

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Enumerator
RotationX
RotationY
RotationZ
TranslationX
TranslationY
TranslationZ

Definition at line 213 of file robot_model.hpp.

enum hebi::robot_model::LinkInputType

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Enumerator
RightAngle
Inline

Definition at line 239 of file robot_model.hpp.

enum hebi::robot_model::LinkOutputType

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Enumerator
RightAngle
Inline

Definition at line 244 of file robot_model.hpp.

enum typedef robot_model::LinkType hebi::robot_model::RobotModel::hebi::robot_model::LinkType

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Enumerator
X5
X8

Definition at line 234 of file robot_model.hpp.

Function Documentation

template<size_t T>

void hebi::robot_model::custom_objective_callback_wrapper ( void *  user_data, size_t  num_positions, const double *  positions, double *  errors  )

inline

C-style callback wrapper to call into CustomObjective class; this should only be used by the CustomObjective class itself.

INTERNAL This is forward declared here so it can be used in the CustomObjective class below.

INTERNAL

Definition at line 185 of file robot_model.hpp.