Public Member Functions | Public Attributes | List of all members
exotica::KinematicResponse Struct Reference

The KinematicResponse is the container to keep kinematic update data. The corresponding KinematicSolution is created from and indexes into a KinematicResponse. More...

#include <kinematic_tree.h>

Public Member Functions

 KinematicResponse ()
 
 KinematicResponse (KinematicRequestFlags _flags, int _size, int _N=0)
 

Public Attributes

KinematicRequestFlags flags = KinematicRequestFlags::KIN_FK
 
std::vector< KinematicFrameframe
 
ArrayHessian hessian
 
ArrayJacobian jacobian
 
ArrayFrame Phi
 
ArrayTwist Phi_dot
 
Eigen::VectorXd x
 

Detailed Description

The KinematicResponse is the container to keep kinematic update data. The corresponding KinematicSolution is created from and indexes into a KinematicResponse.

Definition at line 113 of file kinematic_tree.h.

Constructor & Destructor Documentation

◆ KinematicResponse() [1/2]

exotica::KinematicResponse::KinematicResponse ( )
default

◆ KinematicResponse() [2/2]

exotica::KinematicResponse::KinematicResponse ( KinematicRequestFlags  _flags,
int  _size,
int  _N = 0 
)

Definition at line 53 of file kinematic_tree.cpp.

Member Data Documentation

◆ flags

KinematicRequestFlags exotica::KinematicResponse::flags = KinematicRequestFlags::KIN_FK

Definition at line 117 of file kinematic_tree.h.

◆ frame

std::vector<KinematicFrame> exotica::KinematicResponse::frame

Definition at line 118 of file kinematic_tree.h.

◆ hessian

ArrayHessian exotica::KinematicResponse::hessian

Definition at line 123 of file kinematic_tree.h.

◆ jacobian

ArrayJacobian exotica::KinematicResponse::jacobian

Definition at line 122 of file kinematic_tree.h.

◆ Phi

ArrayFrame exotica::KinematicResponse::Phi

Definition at line 120 of file kinematic_tree.h.

◆ Phi_dot

ArrayTwist exotica::KinematicResponse::Phi_dot

Definition at line 121 of file kinematic_tree.h.

◆ x

Eigen::VectorXd exotica::KinematicResponse::x

Definition at line 119 of file kinematic_tree.h.


The documentation for this struct was generated from the following files:


exotica_core
Author(s): Yiming Yang, Michael Camilleri
autogenerated on Fri Aug 2 2024 08:43:03