Public Types | Public Member Functions | Public Attributes | List of all members
controller::Kin< Joints > Struct Template Reference

#include <jt_cartesian_controller.h>

Public Types

typedef Eigen::Matrix< double, 6, Joints > Jacobian
 
typedef Eigen::Matrix< double, Joints, 1 > JointVec
 

Public Member Functions

void fk (const JointVec &q, Eigen::Affine3d &x)
 
void jac (const JointVec &q, Jacobian &J)
 
 Kin (const KDL::Chain &kdl_chain)
 
 ~Kin ()
 

Public Attributes

KDL::ChainFkSolverPos_recursive fk_solver_
 
KDL::ChainJntToJacSolver jac_solver_
 
KDL::Jacobian kdl_J
 
KDL::JntArray kdl_q
 

Detailed Description

template<int Joints>
struct controller::Kin< Joints >

Definition at line 66 of file jt_cartesian_controller.h.

Member Typedef Documentation

template<int Joints>
typedef Eigen::Matrix<double, 6, Joints> controller::Kin< Joints >::Jacobian

Definition at line 69 of file jt_cartesian_controller.h.

template<int Joints>
typedef Eigen::Matrix<double, Joints, 1> controller::Kin< Joints >::JointVec

Definition at line 68 of file jt_cartesian_controller.h.

Constructor & Destructor Documentation

template<int Joints>
controller::Kin< Joints >::Kin ( const KDL::Chain kdl_chain)
inline

Definition at line 71 of file jt_cartesian_controller.h.

template<int Joints>
controller::Kin< Joints >::~Kin ( )
inline

Definition at line 76 of file jt_cartesian_controller.h.

Member Function Documentation

template<int Joints>
void controller::Kin< Joints >::fk ( const JointVec q,
Eigen::Affine3d &  x 
)
inline

Definition at line 80 of file jt_cartesian_controller.h.

template<int Joints>
void controller::Kin< Joints >::jac ( const JointVec q,
Jacobian J 
)
inline

Definition at line 87 of file jt_cartesian_controller.h.

Member Data Documentation

template<int Joints>
KDL::ChainFkSolverPos_recursive controller::Kin< Joints >::fk_solver_

Definition at line 94 of file jt_cartesian_controller.h.

template<int Joints>
KDL::ChainJntToJacSolver controller::Kin< Joints >::jac_solver_

Definition at line 95 of file jt_cartesian_controller.h.

template<int Joints>
KDL::Jacobian controller::Kin< Joints >::kdl_J

Definition at line 97 of file jt_cartesian_controller.h.

template<int Joints>
KDL::JntArray controller::Kin< Joints >::kdl_q

Definition at line 96 of file jt_cartesian_controller.h.


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


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Wed Jun 5 2019 19:34:03