Robotis Manipulator  1.0.0
Public Member Functions | List of all members
robotis_manipulator::Kinematics Class Referenceabstract

The Kinematics class. More...

#include <robotis_manipulator_manager.h>

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Public Member Functions

 Kinematics ()
 
virtual ~Kinematics ()
 
virtual void setOption (const void *arg)=0
 setOption More...
 
virtual Eigen::MatrixXd jacobian (Manipulator *manipulator, Name tool_name)=0
 jacobian More...
 
virtual void solveForwardKinematics (Manipulator *manipulator)=0
 solveForwardKinematics More...
 
virtual bool solveInverseKinematics (Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector< JointValue > *goal_joint_position)=0
 solveInverseKinematics More...
 

Detailed Description

The Kinematics class.

Definition at line 41 of file robotis_manipulator_manager.h.

Constructor & Destructor Documentation

robotis_manipulator::Kinematics::Kinematics ( )
inline

Definition at line 44 of file robotis_manipulator_manager.h.

44 {}
virtual robotis_manipulator::Kinematics::~Kinematics ( )
inlinevirtual

Definition at line 45 of file robotis_manipulator_manager.h.

45 {}

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Member Function Documentation

virtual Eigen::MatrixXd robotis_manipulator::Kinematics::jacobian ( Manipulator *  manipulator,
Name  tool_name 
)
pure virtual

jacobian

Parameters
manipulator
tool_name
Returns

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virtual void robotis_manipulator::Kinematics::setOption ( const void *  arg)
pure virtual

setOption

Parameters
arg

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virtual void robotis_manipulator::Kinematics::solveForwardKinematics ( Manipulator *  manipulator)
pure virtual

solveForwardKinematics

Parameters
manipulator

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virtual bool robotis_manipulator::Kinematics::solveInverseKinematics ( Manipulator *  manipulator,
Name  tool_name,
Pose  target_pose,
std::vector< JointValue > *  goal_joint_position 
)
pure virtual

solveInverseKinematics

Parameters
manipulator
tool_name
target_pose
goal_joint_position
Returns

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The documentation for this class was generated from the following file: