cartesian_planning::internal Namespace Reference

Functions
const moveit::core::JointModel *	getCommonRoot (const moveit::core::JointModelGroup &group)
template<class JacobianMatrixType >
void	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	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	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 >	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)

Function Documentation

fillInJointJacobian()

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
	)

fillInPlanarJacobian()

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
	)

fillInPrismaticJacobian()

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
	)

fillInRevoluteJacobian()

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
	)

getCommonRoot()

const moveit::core::JointModel * cartesian_planning::internal::getCommonRoot

(

const moveit::core::JointModelGroup &

group

)