robot_model.hpp File Reference

#include "hebi.h"
#include <memory>
#include <vector>
#include "Eigen/Eigen"
#include "util.hpp"

Go to the source code of this file.

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

Namespaces
	hebi
	hebi::robot_model

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

Enumerations
enum	hebi::robot_model::ElementType {   hebi::robot_model::ElementType::Other = HebiRobotModelElementTypeOther, hebi::robot_model::ElementType::Actuator = HebiRobotModelElementTypeActuator, hebi::robot_model::ElementType::Bracket = HebiRobotModelElementTypeBracket, hebi::robot_model::ElementType::Joint = HebiRobotModelElementTypeJoint,   hebi::robot_model::ElementType::Link = HebiRobotModelElementTypeLink, hebi::robot_model::ElementType::RigidBody = HebiRobotModelElementTypeRigidBody, hebi::robot_model::ElementType::EndEffector = HebiRobotModelElementTypeEndEffector }
enum	hebi::robot_model::FrameType {   hebi::robot_model::FrameType::CenterOfMass = HebiFrameTypeCenterOfMass, hebi::robot_model::FrameType::Output = HebiFrameTypeOutput, hebi::robot_model::FrameType::EndEffector = HebiFrameTypeEndEffector, hebi::robot_model::FrameType::Input = HebiFrameTypeInput,   hebi::robot_model::FrameType::Mesh = HebiFrameTypeMesh, hebi::robot_model::FrameType::Payload = HebiFrameTypePayload }
enum	hebi::robot_model::JointType {   hebi::robot_model::JointType::RotationX = HebiJointTypeRotationX, hebi::robot_model::JointType::RotationY = HebiJointTypeRotationY, hebi::robot_model::JointType::RotationZ = HebiJointTypeRotationZ, hebi::robot_model::JointType::TranslationX = HebiJointTypeTranslationX,   hebi::robot_model::JointType::TranslationY = HebiJointTypeTranslationY, hebi::robot_model::JointType::TranslationZ = HebiJointTypeTranslationZ }
enum	hebi::robot_model::ActuatorType {   hebi::robot_model::ActuatorType::X5_1 = HebiActuatorTypeX5_1, hebi::robot_model::ActuatorType::X5_4 = HebiActuatorTypeX5_4, hebi::robot_model::ActuatorType::X5_9 = HebiActuatorTypeX5_9, hebi::robot_model::ActuatorType::X8_3 = HebiActuatorTypeX8_3,   hebi::robot_model::ActuatorType::X8_9 = HebiActuatorTypeX8_9, hebi::robot_model::ActuatorType::X8_16 = HebiActuatorTypeX8_16, hebi::robot_model::ActuatorType::R8_3 = HebiActuatorTypeR8_3, hebi::robot_model::ActuatorType::R8_9 = HebiActuatorTypeR8_9,   hebi::robot_model::ActuatorType::R8_16 = HebiActuatorTypeR8_16, hebi::robot_model::ActuatorType::T5_1 = HebiActuatorTypeT5_1, hebi::robot_model::ActuatorType::T5_4 = HebiActuatorTypeT5_4, hebi::robot_model::ActuatorType::T5_9 = HebiActuatorTypeT5_9,   hebi::robot_model::ActuatorType::T8_3 = HebiActuatorTypeT8_3, hebi::robot_model::ActuatorType::T8_9 = HebiActuatorTypeT8_9, hebi::robot_model::ActuatorType::T8_16 = HebiActuatorTypeT8_16, hebi::robot_model::ActuatorType::R25_8 = HebiActuatorTypeR25_8,   hebi::robot_model::ActuatorType::R25_20 = HebiActuatorTypeR25_20, hebi::robot_model::ActuatorType::R25_40 = HebiActuatorTypeR25_40, hebi::robot_model::ActuatorType::T25_8 = HebiActuatorTypeT25_8, hebi::robot_model::ActuatorType::T25_20 = HebiActuatorTypeT25_20,   hebi::robot_model::ActuatorType::T25_40 = HebiActuatorTypeT25_40 }
enum	hebi::robot_model::LinkType { hebi::robot_model::LinkType::X5 = HebiLinkTypeX5, hebi::robot_model::LinkType::X8 = HebiLinkTypeR8, hebi::robot_model::LinkType::R25 = HebiLinkTypeR25, hebi::robot_model::LinkType::R25_R8 = HebiLinkTypeR25_R8 }
enum	hebi::robot_model::LinkInputType { hebi::robot_model::LinkInputType::RightAngle = HebiLinkInputTypeRightAngle, hebi::robot_model::LinkInputType::Inline = HebiLinkInputTypeInline }
enum	hebi::robot_model::LinkOutputType { hebi::robot_model::LinkOutputType::RightAngle = HebiLinkOutputTypeRightAngle, hebi::robot_model::LinkOutputType::Inline = HebiLinkOutputTypeInline }
enum	hebi::robot_model::BracketType {   hebi::robot_model::BracketType::X5LightLeft = HebiBracketTypeX5LightLeft, hebi::robot_model::BracketType::X5LightRight = HebiBracketTypeX5LightRight, hebi::robot_model::BracketType::X5HeavyLeftInside = HebiBracketTypeX5HeavyLeftInside, hebi::robot_model::BracketType::X5HeavyLeftOutside = HebiBracketTypeX5HeavyLeftOutside,   hebi::robot_model::BracketType::X5HeavyRightInside = HebiBracketTypeX5HeavyRightInside, hebi::robot_model::BracketType::X5HeavyRightOutside = HebiBracketTypeX5HeavyRightOutside, hebi::robot_model::BracketType::R8LightLeft = HebiBracketTypeR8LightLeft, hebi::robot_model::BracketType::R8LightRight = HebiBracketTypeR8LightRight,   hebi::robot_model::BracketType::R8HeavyLeftInside = HebiBracketTypeR8HeavyLeftInside, hebi::robot_model::BracketType::R8HeavyLeftOutside = HebiBracketTypeR8HeavyLeftOutside, hebi::robot_model::BracketType::R8HeavyRightInside = HebiBracketTypeR8HeavyRightInside, hebi::robot_model::BracketType::R8HeavyRightOutside = HebiBracketTypeR8HeavyRightOutside,   hebi::robot_model::BracketType::R25LightLeft = HebiBracketTypeR25LightLeft, hebi::robot_model::BracketType::R25LightRight = HebiBracketTypeR25LightRight, hebi::robot_model::BracketType::R25HeavyLeftInside = HebiBracketTypeR25HeavyLeftInside, hebi::robot_model::BracketType::R25HeavyLeftOutside = HebiBracketTypeR25HeavyLeftOutside,   hebi::robot_model::BracketType::R25HeavyRightInside = HebiBracketTypeR25HeavyRightInside, hebi::robot_model::BracketType::R25HeavyRightOutside = HebiBracketTypeR25HeavyRightOutside }
enum	hebi::robot_model::EndEffectorType { hebi::robot_model::EndEffectorType::Custom = HebiEndEffectorTypeCustom, hebi::robot_model::EndEffectorType::X5Parallel = HebiEndEffectorTypeX5Parallel, hebi::robot_model::EndEffectorType::R8Parallel = HebiEndEffectorTypeR8Parallel }

Functions
template<size_t T>
void	hebi::robot_model::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...