hebi::experimental::arm::internal::KinematicsHelper Class Reference

#include <kinematics_helper.hpp>

Public Member Functions
void	setJointLimits (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &min_positions, const Eigen::VectorXd &max_positions)
void	clearJointLimits ()
Eigen::Vector3d	FK3Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &positions) const
void	FK5Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Vector3d &tip_axis) const
void	FK6Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &positions, Eigen::Vector3d &xyz_out, Eigen::Matrix3d &orientation) const
Eigen::VectorXd	solveIK3Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz) const
Eigen::VectorXd	solveIK5Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Vector3d &end_tip) const
Eigen::VectorXd	solveIK6Dof (const robot_model::RobotModel &robot_model, const Eigen::VectorXd &initial_positions, const Eigen::Vector3d &target_xyz, const Eigen::Matrix3d &orientation) const

Member Function Documentation

setJointLimits()

void hebi::experimental::arm::internal::KinematicsHelper::setJointLimits	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	min_positions,
		const Eigen::VectorXd &	max_positions
	)

clearJointLimits()

void hebi::experimental::arm::internal::KinematicsHelper::clearJointLimits

(

)

FK3Dof()

Eigen::Vector3d hebi::experimental::arm::internal::KinematicsHelper::FK3Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	positions
	)		const

FK5Dof()

void hebi::experimental::arm::internal::KinematicsHelper::FK5Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	positions,
		Eigen::Vector3d &	xyz_out,
		Eigen::Vector3d &	tip_axis
	)		const

FK6Dof()

void hebi::experimental::arm::internal::KinematicsHelper::FK6Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	positions,
		Eigen::Vector3d &	xyz_out,
		Eigen::Matrix3d &	orientation
	)		const

solveIK3Dof()

Eigen::VectorXd hebi::experimental::arm::internal::KinematicsHelper::solveIK3Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	initial_positions,
		const Eigen::Vector3d &	target_xyz
	)		const

solveIK5Dof()

Eigen::VectorXd hebi::experimental::arm::internal::KinematicsHelper::solveIK5Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	initial_positions,
		const Eigen::Vector3d &	target_xyz,
		const Eigen::Vector3d &	end_tip
	)		const

solveIK6Dof()

Eigen::VectorXd hebi::experimental::arm::internal::KinematicsHelper::solveIK6Dof	(	const robot_model::RobotModel &	robot_model,
		const Eigen::VectorXd &	initial_positions,
		const Eigen::Vector3d &	target_xyz,
		const Eigen::Matrix3d &	orientation
	)		const

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

• kinematics_helper.hpp
• kinematics_helper.cpp