path_ik::internal Namespace Reference

Classes
struct	JacobianColumn

Functions
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 >
tl::expected< void, std::string >	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)
template<class JacobianMatrixType >
tl::expected< void, std::string >	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)

Function Documentation

checkMimicJoint()

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

inline

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
	)

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
	)

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
	)

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
	)

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
	)

getCommonRoot()

const moveit_pro::base::JointModel * path_ik::internal::getCommonRoot

(

const moveit_pro::base::JointModelGroup &

group

)

jointMovesLink()

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

inline