#include <manipulator_h_kinematics_dynamics.h>
Public Member Functions | |
| Eigen::MatrixXd | calcCOM (Eigen::MatrixXd MC) |
| Eigen::MatrixXd | calcJacobian (std::vector< int > idx) |
| Eigen::MatrixXd | calcJacobianCOM (std::vector< int > idx) |
| Eigen::MatrixXd | calcMC (int joint_ID) |
| Eigen::MatrixXd | calcVWerr (Eigen::MatrixXd tar_position, Eigen::MatrixXd curr_position, Eigen::MatrixXd tar_orientation, Eigen::MatrixXd curr_orientation) |
| std::vector< int > | findRoute (int to) |
| std::vector< int > | findRoute (int from, int to) |
| void | forwardKinematics (int joint_ID) |
| bool | inverseKinematics (int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err) |
| bool | inverseKinematics (int from, int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err) |
| ManipulatorKinematicsDynamics () | |
| ManipulatorKinematicsDynamics (TreeSelect tree) | |
| double | totalMass (int joint_ID) |
| ~ManipulatorKinematicsDynamics () | |
Public Attributes | |
| LinkData * | manipulator_link_data_ [ALL_JOINT_ID+1] |
Definition at line 33 of file manipulator_h_kinematics_dynamics.h.
| robotis_manipulator_h::ManipulatorKinematicsDynamics::ManipulatorKinematicsDynamics | ( | ) |
Definition at line 30 of file manipulator_h_kinematics_dynamics.cpp.
| robotis_manipulator_h::ManipulatorKinematicsDynamics::ManipulatorKinematicsDynamics | ( | TreeSelect | tree | ) |
Definition at line 37 of file manipulator_h_kinematics_dynamics.cpp.
| robotis_manipulator_h::ManipulatorKinematicsDynamics::~ManipulatorKinematicsDynamics | ( | ) |
Definition at line 33 of file manipulator_h_kinematics_dynamics.cpp.
| Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcCOM | ( | Eigen::MatrixXd | MC | ) |
Definition at line 211 of file manipulator_h_kinematics_dynamics.cpp.
| Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcJacobian | ( | std::vector< int > | idx | ) |
Definition at line 253 of file manipulator_h_kinematics_dynamics.cpp.
| Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcJacobianCOM | ( | std::vector< int > | idx | ) |
Definition at line 275 of file manipulator_h_kinematics_dynamics.cpp.
| Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcMC | ( | int | joint_ID | ) |
Definition at line 195 of file manipulator_h_kinematics_dynamics.cpp.
| Eigen::MatrixXd robotis_manipulator_h::ManipulatorKinematicsDynamics::calcVWerr | ( | Eigen::MatrixXd | tar_position, |
| Eigen::MatrixXd | curr_position, | ||
| Eigen::MatrixXd | tar_orientation, | ||
| Eigen::MatrixXd | curr_orientation | ||
| ) |
Definition at line 298 of file manipulator_h_kinematics_dynamics.cpp.
| std::vector< int > robotis_manipulator_h::ManipulatorKinematicsDynamics::findRoute | ( | int | to | ) |
Definition at line 142 of file manipulator_h_kinematics_dynamics.cpp.
| std::vector< int > robotis_manipulator_h::ManipulatorKinematicsDynamics::findRoute | ( | int | from, |
| int | to | ||
| ) |
Definition at line 162 of file manipulator_h_kinematics_dynamics.cpp.
| void robotis_manipulator_h::ManipulatorKinematicsDynamics::forwardKinematics | ( | int | joint_ID | ) |
Definition at line 223 of file manipulator_h_kinematics_dynamics.cpp.
| bool robotis_manipulator_h::ManipulatorKinematicsDynamics::inverseKinematics | ( | int | to, |
| Eigen::MatrixXd | tar_position, | ||
| Eigen::MatrixXd | tar_orientation, | ||
| int | max_iter, | ||
| double | ik_err | ||
| ) |
Definition at line 312 of file manipulator_h_kinematics_dynamics.cpp.
| bool robotis_manipulator_h::ManipulatorKinematicsDynamics::inverseKinematics | ( | int | from, |
| int | to, | ||
| Eigen::MatrixXd | tar_position, | ||
| Eigen::MatrixXd | tar_orientation, | ||
| int | max_iter, | ||
| double | ik_err | ||
| ) |
Definition at line 377 of file manipulator_h_kinematics_dynamics.cpp.
| double robotis_manipulator_h::ManipulatorKinematicsDynamics::totalMass | ( | int | joint_ID | ) |
Definition at line 182 of file manipulator_h_kinematics_dynamics.cpp.
| LinkData* robotis_manipulator_h::ManipulatorKinematicsDynamics::manipulator_link_data_[ALL_JOINT_ID+1] |
Definition at line 40 of file manipulator_h_kinematics_dynamics.h.