internal Namespace

Definition

namespace path_ik::internal { ... }

Classes Index

struct	JacobianColumn

Functions Index

const moveit_pro::base::JointModel *	getCommonRoot (const moveit_pro::base::JointModelGroup &group)
tl::expected< void, std::string >	checkMimicJoint (const moveit_pro::base::JointModel &mimic_joint)
bool	jointMovesLink (const moveit_pro::base::JointModel &joint, const moveit_pro::base::LinkModel &link)
template <bool kAccumulate, class JacobianMatrixType>
void	fillInRevoluteJacobian (const Eigen::Isometry3d &root_pose_link, const moveit_pro::base::RevoluteJointModel &joint_model, const Eigen::Vector3d &tip_point, int tip_id, const JacobianColumn &column, JacobianMatrixType &jacobian)
template <bool kAccumulate, class JacobianMatrixType>
void	fillInPrismaticJacobian (const Eigen::Isometry3d &root_pose_link, const moveit_pro::base::PrismaticJointModel &joint_model, int tip_id, const JacobianColumn &column, JacobianMatrixType &jacobian)
template <class JacobianMatrixType>
void	fillInPlanarJacobian (const Eigen::Isometry3d &root_pose_link, const Eigen::Vector3d &tip_point, int tip_id, const JacobianColumn &column, JacobianMatrixType &jacobian)
template <bool kAccumulate, class JacobianMatrixType>
auto	fillInJointJacobian (const Eigen::Isometry3d &root_pose_link, const moveit_pro::base::JointModel &joint_model, const Eigen::Vector3d &tip_point, int tip_id, const JacobianColumn &column, JacobianMatrixType &jacobian) -> tl::expected< void, std::string >
template <class JacobianMatrixType>
auto	foldMimicJointsIntoColumn (const moveit_pro::base::RobotState &state, const moveit_pro::base::JointModel &driver, const moveit_pro::base::LinkModel &tip_link, const Eigen::Isometry3d &root_pose_world, const Eigen::Vector3d &tip_point, int column_index, JacobianMatrixType &jacobian) -> tl::expected< void, std::string >

Functions

checkMimicJoint()

tl::expected< void, std::string > path_ik::internal::checkMimicJoint (const moveit_pro::base::JointModel & mimic_joint)

inline

Definition at line 118 of file jacobian.hpp.

fillInJointJacobian()

template <bool kAccumulate, class JacobianMatrixType>

tl::expected< void, std::string > path_ik::internal::fillInJointJacobian (const Eigen::Isometry3d & root_pose_link, const moveit_pro::base::JointModel & joint_model, const Eigen::Vector3d & tip_point, int tip_id, const JacobianColumn & column, JacobianMatrixType & jacobian)

Definition at line 203 of file jacobian.hpp.

fillInPlanarJacobian()

template <class JacobianMatrixType>

void path_ik::internal::fillInPlanarJacobian (const Eigen::Isometry3d & root_pose_link, const Eigen::Vector3d & tip_point, int tip_id, const JacobianColumn & column, JacobianMatrixType & jacobian)

Definition at line 188 of file jacobian.hpp.

fillInPrismaticJacobian()

template <bool kAccumulate, class JacobianMatrixType>

void path_ik::internal::fillInPrismaticJacobian (const Eigen::Isometry3d & root_pose_link, const moveit_pro::base::PrismaticJointModel & joint_model, int tip_id, const JacobianColumn & column, JacobianMatrixType & jacobian)

Definition at line 167 of file jacobian.hpp.

fillInRevoluteJacobian()

template <bool kAccumulate, class JacobianMatrixType>

void path_ik::internal::fillInRevoluteJacobian (const Eigen::Isometry3d & root_pose_link, const moveit_pro::base::RevoluteJointModel & joint_model, const Eigen::Vector3d & tip_point, int tip_id, const JacobianColumn & column, JacobianMatrixType & jacobian)

Definition at line 147 of file jacobian.hpp.

foldMimicJointsIntoColumn()

template <class JacobianMatrixType>

tl::expected< void, std::string > path_ik::internal::foldMimicJointsIntoColumn (const moveit_pro::base::RobotState & state, const moveit_pro::base::JointModel & driver, const moveit_pro::base::LinkModel & tip_link, const Eigen::Isometry3d & root_pose_world, const Eigen::Vector3d & tip_point, int column_index, JacobianMatrixType & jacobian)

Definition at line 256 of file jacobian.hpp.

getCommonRoot()

const moveit_pro::base::JointModel * path_ik::internal::getCommonRoot (const moveit_pro::base::JointModelGroup & group)

Definition at line 15 of file jacobian.cpp.

jointMovesLink()

bool path_ik::internal::jointMovesLink (const moveit_pro::base::JointModel & joint, const moveit_pro::base::LinkModel & link)

inline

Definition at line 129 of file jacobian.hpp.

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

• jacobian.hpp
• jacobian.cpp

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