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Robotics Library
0.6.2
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27 #ifndef _RL_MDL_KINEMATIC_H_
28 #define _RL_MDL_KINEMATIC_H_
41 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
62 const ::std::size_t& leaf = 0,
65 const ::std::size_t& iterations = 1000
165 #endif // _RL_MDL_KINEMATIC_H_
::rl::math::Matrix invJ
Definition: Kinematic.h:153
Definition: Kinematic.h:39
bool isSingular() const
Check if current configuration is singular.
Definition: Kinematic.cpp:288
virtual ~Kinematic()
Definition: Kinematic.cpp:52
::rl::math::Matrix J
Definition: Kinematic.h:155
void calculateJacobianInverse(const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true)
Definition: Kinematic.cpp:190
bool calculateInversePosition(const ::rl::math::Transform &x, const ::std::size_t &leaf=0, const ::rl::math::Real &delta=::std::numeric_limits< ::rl::math::Real >::infinity(), const ::rl::math::Real &epsilon=1.0e-3f, const ::std::size_t &iterations=1000)
Resolved motion rate control.
Definition: Kinematic.cpp:57
void calculateJacobianDerivative()
Definition: Kinematic.cpp:165
::rl::math::Vector Jdqd
Definition: Kinematic.h:157
void forwardPosition()
Definition: Kinematic.cpp:252
::Eigen::Matrix< Real, ::Eigen::Dynamic, ::Eigen::Dynamic > Matrix
Definition: Matrix.h:41
const ::rl::math::Vector & getJacobianDerivative() const
Definition: Kinematic.cpp:276
const ::rl::math::Matrix & getJacobianInverse() const
Definition: Kinematic.cpp:282
void forwardVelocity()
Definition: Kinematic.cpp:261
void calculateJacobian()
Definition: Kinematic.cpp:131
virtual void update()
Definition: Kinematic.cpp:301
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Definition: Transform.h:42
Kinematic()
Definition: Kinematic.cpp:44
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:41
Model * clone() const
Definition: Kinematic.cpp:237
double Real
Definition: Real.h:34
const ::rl::math::Matrix & getJacobian() const
Definition: Kinematic.cpp:270
::rl::math::Real calculateManipulabilityMeasure() const
Calculate manipulability measure.
Definition: Kinematic.cpp:225
void forwardAcceleration()
Definition: Kinematic.cpp:243