velocity_inverse_kinematics.hpp File Reference

#include <Eigen/Cholesky>
#include <Eigen/Core>
#include "cartesian_planning/types.hpp"
#include "moveit_pro_macros/macros.hpp"
#include "moveit_pro_types/types.hpp"

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Namespaces
namespace	cartesian_planning

Functions
template<typename Scalar , int Rows, int Cols, int Options, int MaxRows, int MaxCols>
Eigen::Matrix< Scalar, Cols, 1, Options, MaxCols, 1 >	cartesian_planning::velocityInverseKinematics (const Eigen::MatrixBase< Eigen::Matrix< Scalar, Rows, Cols, Options, MaxRows, MaxCols > > &jacobian, double damping, const Eigen::Matrix< Scalar, Rows, 1, Options, MaxRows, 1 > &cartesian_velocity, const Eigen::MatrixBase< Eigen::Matrix< Scalar, Cols, 1, Options, MaxCols, 1 > > &nullspace_component)
	Compute joint velocities corresponding to a given Cartesian velocity.