cpp_robotics::ArmForwardKinematics

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#include <arm_kinematics.hpp>

Public Functions

	Name
	ArmForwardKinematics(size_t nq, size_t nx) Construct a new Arm IK object.
Eigen::VectorXd	solve_fk(Eigen::VectorXd joint_angles)
Eigen::VectorXd	solve_ik(Eigen::VectorXd pos, Eigen::VectorXd joint_angles0)
Eigen::VectorXd	solve_ik(Eigen::VectorXd pos)
Eigen::MatrixXd	jacobian(Eigen::VectorXd joint_angles)

Detailed Description

template <class Derived >
class cpp_robotics::ArmForwardKinematics;

Public Functions Documentation

function ArmForwardKinematics

inline ArmForwardKinematics(
    size_t nq,
    size_t nx
)

Construct a new Arm IK object.

Parameters:

• nq Number of joints
• nx Number of end effector's degrees of freedom

function solve_fk

inline Eigen::VectorXd solve_fk(
    Eigen::VectorXd joint_angles
)

function solve_ik

inline Eigen::VectorXd solve_ik(
    Eigen::VectorXd pos,
    Eigen::VectorXd joint_angles0
)

function solve_ik

inline Eigen::VectorXd solve_ik(
    Eigen::VectorXd pos
)

function jacobian

inline Eigen::MatrixXd jacobian(
    Eigen::VectorXd joint_angles
)

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Updated on 2024-05-28 at 06:55:39 +0000