utils.cpp File Reference

Kinematics utility functions. More...

#include <tesseract_common/macros.h>
#include <Eigen/Eigenvalues>
#include <tesseract_kinematics/core/utils.h>
#include <tesseract_kinematics/core/joint_group.h>
#include <tesseract_kinematics/core/forward_kinematics.h>

Include dependency graph for utils.cpp:

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Namespaces
	tesseract_kinematics

Functions
Manipulability	tesseract_kinematics::calcManipulability (const Eigen::Ref< const Eigen::MatrixXd > &jacobian)
	Calculate manipulability data about the provided jacobian. More...
bool	tesseract_kinematics::dampedPInv (const Eigen::Ref< const Eigen::MatrixXd > &A, Eigen::Ref< Eigen::MatrixXd > P, double eps=0.011, double lambda=0.01)
	Calculate Damped Pseudoinverse Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD. More...
bool	tesseract_kinematics::isNearSingularity (const Eigen::Ref< const Eigen::MatrixXd > &jacobian, double threshold=0.01)
	Check if the provided jacobian is near a singularity. More...
void	tesseract_kinematics::numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base, const JointGroup &joint_group, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point)
	Numerically calculate a jacobian. This is mainly used for testing. More...
void	tesseract_kinematics::numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base, const tesseract_kinematics::ForwardKinematics &kin, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point)
	Numerically calculate a jacobian. This is mainly used for testing. More...
bool	tesseract_kinematics::solvePInv (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, Eigen::Ref< Eigen::VectorXd > x)
	Solve equation Ax=b for x Use this SVD to compute A+ (pseudoinverse of A). Weighting still TBD. More...

Detailed Description

Kinematics utility functions.

Author

Levi Armstrong

Date

April 15, 2018

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2013, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file utils.cpp.