jacobian.hpp File Reference

#include <Eigen/Core>
#include <moveit/robot_model/joint_model_group.hpp>
#include <moveit/robot_model/link_model.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <tl_expected/expected.hpp>
#include "moveit_pro_macros/macros.hpp"
#include "moveit_pro_types/types.hpp"

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Namespaces
namespace	cartesian_planning
namespace	cartesian_planning::internal

Functions
template<typename MatrixType >
tl::expected< MatrixType, std::string >	cartesian_planning::computeJacobianForChain (const moveit::core::RobotState &state, const moveit::core::JointModelGroup &group, const moveit::core::LinkModel &tip_link, const Eigen::Vector3d &tip_offset)
	Compute the Jacobian matrix for a given tip link in a kinematic chain.
tl::expected< Eigen::MatrixXd, std::string >	cartesian_planning::computeMultiTipJacobian (const moveit::core::RobotState &state, const moveit::core::JointModelGroup &group, const std::vector< const moveit::core::LinkModel * > &tip_links, const std::vector< Eigen::Vector3d > &tip_offsets)
	Compute the Jacobian matrix for a kinematic tree with multiple tips.
const moveit::core::JointModel *	cartesian_planning::internal::getCommonRoot (const moveit::core::JointModelGroup &group)
template<class JacobianMatrixType >
void	cartesian_planning::internal::fillInRevoluteJacobian (const Eigen::Isometry3d &root_pose_link, const moveit::core::RevoluteJointModel &joint_model, const Eigen::Vector3d &tip_point, int tip_id, int column_index, JacobianMatrixType &jacobian)
template<class JacobianMatrixType >
void	cartesian_planning::internal::fillInPrismaticJacobian (const Eigen::Isometry3d &root_pose_link, const moveit::core::PrismaticJointModel &joint_model, int tip_id, int column_index, JacobianMatrixType &jacobian)
template<class JacobianMatrixType >
void	cartesian_planning::internal::fillInPlanarJacobian (const Eigen::Isometry3d &root_pose_link, const Eigen::Vector3d &tip_point, int tip_id, int column_index, JacobianMatrixType &jacobian)
template<class JacobianMatrixType >
tl::expected< void, std::string >	cartesian_planning::internal::fillInJointJacobian (const Eigen::Isometry3d &root_pose_link, const moveit::core::JointModel &joint_model, const Eigen::Vector3d &tip_point, int tip_id, int column_index, JacobianMatrixType &jacobian)
Eigen::Isometry3d	cartesian_planning::getWorldPoseInRootCoordinates (const moveit::core::RobotState &state, const moveit::core::JointModelGroup &group)
	Get the pose of the world frame given in the group root link frame, i.e. `root_pose_world. at the given state.