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kinematics/path_ik/src/path_ik.cpp File

Included Headers​

#include "path_ik/path_ik.hpp" #include <algorithm> #include <cmath> #include <sstream> #include "moveit_pro_macros/macros.hpp" #include "moveit_studio_licensing/licensing.hpp" #include "path_ik/damped_least_squares_inverse.hpp" #include "path_ik/interpolate.hpp" #include "path_ik/jacobian.hpp" #include "path_ik/math.hpp" #include "path_ik/nullspace_tasks.hpp" #include "path_ik/path_utils.hpp" #include "path_ik/types.hpp" #include "path_ik/velocity_inverse_kinematics.hpp"

Namespaces Index​

namespacepath_ik

Variables Index​

moveit_pro::base::RobotState &robot_state
const moveit_pro::base::JointModelGroup &group
const std::vector< const moveit_pro::base::LinkModel * > &tip_links
const Eigen::Isometry3d &root_pose_world
const std::vector< Eigen::Isometry3d > &root_pose_tips_reference
const Eigen::VectorXd &lower_limits
const Eigen::VectorXd &upper_limits
doubletranslation = 0.0
doublerotation = 0.0

Variables​

group​

const moveit_pro::base::JointModelGroup& group

Definition at line 52 of file path_ik.cpp.

lower_limits​

const Eigen::VectorXd& lower_limits

Definition at line 66 of file path_ik.cpp.

robot_state​

moveit_pro::base::RobotState& robot_state

Definition at line 51 of file path_ik.cpp.

root_pose_tips_reference​

const std::vector<Eigen::Isometry3d>& root_pose_tips_reference

Definition at line 60 of file path_ik.cpp.

root_pose_world​

const Eigen::Isometry3d& root_pose_world

Definition at line 59 of file path_ik.cpp.

rotation​

double rotation = 0.0

Definition at line 74 of file path_ik.cpp.

tip_links​

const std::vector<const moveit_pro::base::LinkModel*>& tip_links

Definition at line 53 of file path_ik.cpp.

translation​

double translation = 0.0

Definition at line 73 of file path_ik.cpp.

upper_limits​

const Eigen::VectorXd& upper_limits

Definition at line 67 of file path_ik.cpp.

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