Skip to main content

MobileBaseLayout Struct

How the solver coordinates of a group that contains the robot's mobile base map to its active variables. More...

Declaration​

struct path_ik::internal::MobileBaseLayout { ... }

Included Headers​

#include <jacobian.hpp>

Public Member Functions Index​

Eigen::IndexbaseCoordinateCount () const
Eigen::IndexsolverCoordinateCount () const

Public Member Attributes Index​

const moveit_pro::base::JointModelGroup *group = nullptr

The group getMobileBaseLayout() built this layout for; its indices are valid only for that group. More...

const moveit_pro::base::MobileBase *base = nullptr
std::vector< Eigen::Index >joint_variables

Index into the group's active variables of each variable that is not a wheel, in group order. More...

std::vector< Eigen::Index >wheel_variables

Index into the group's active variables of each wheel, in the wheel order of the base kinematics. More...

Description​

How the solver coordinates of a group that contains the robot's mobile base map to its active variables.

The solver moves the base through its motion coordinates (moveit_pro::base_kinematics::motionCoordinateBasis()) instead of its wheels, so the solver coordinates are the base's motion coordinates followed by the group's active variables other than the wheels, in group order.

Definition at line 311 of file jacobian.hpp.

Public Member Functions​

baseCoordinateCount()​

Eigen::Index path_ik::internal::MobileBaseLayout::baseCoordinateCount ()
 nodiscard

Declaration at line 321 of file jacobian.hpp, definition at line 239 of file jacobian.cpp.

solverCoordinateCount()​

Eigen::Index path_ik::internal::MobileBaseLayout::solverCoordinateCount ()
 nodiscard

Declaration at line 322 of file jacobian.hpp, definition at line 244 of file jacobian.cpp.

Public Member Attributes​

base​

const moveit_pro::base::MobileBase* path_ik::internal::MobileBaseLayout::base = nullptr

Definition at line 315 of file jacobian.hpp.

group​

const moveit_pro::base::JointModelGroup* path_ik::internal::MobileBaseLayout::group = nullptr

The group getMobileBaseLayout() built this layout for; its indices are valid only for that group.

Definition at line 314 of file jacobian.hpp.

joint_variables​

std::vector<Eigen::Index> path_ik::internal::MobileBaseLayout::joint_variables

Index into the group's active variables of each variable that is not a wheel, in group order.

Definition at line 317 of file jacobian.hpp.

wheel_variables​

std::vector<Eigen::Index> path_ik::internal::MobileBaseLayout::wheel_variables

Index into the group's active variables of each wheel, in the wheel order of the base kinematics.

Definition at line 319 of file jacobian.hpp.

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

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.15.0.