Inheritance diagram for kinematics_interface::KinematicsInterface:

Public Member Functions
virtual bool	initialize (std::shared_ptr< rclcpp::node_interfaces::NodeParametersInterface > parameters_interface, const std::string &end_effector_name)=0
	Initialize plugin. This method must be called before any other.

virtual bool	convert_cartesian_deltas_to_joint_deltas (const Eigen::VectorXd &joint_pos, const Eigen::Matrix< double, 6, 1 > &delta_x, const std::string &link_name, Eigen::VectorXd &delta_theta)=0
	Convert Cartesian delta-x to joint delta-theta, using the Jacobian. More...

virtual bool	convert_joint_deltas_to_cartesian_deltas (const Eigen::VectorXd &joint_pos, const Eigen::VectorXd &delta_theta, const std::string &link_name, Eigen::Matrix< double, 6, 1 > &delta_x)=0
	Convert joint delta-theta to Cartesian delta-x. More...

virtual bool	calculate_link_transform (const Eigen::VectorXd &joint_pos, const std::string &link_name, Eigen::Isometry3d &transform)=0
	Calculates the joint transform for a specified link using provided joint positions. More...

virtual bool	calculate_jacobian (const Eigen::VectorXd &joint_pos, const std::string &link_name, Eigen::Matrix< double, 6, Eigen::Dynamic > &jacobian)=0
	Calculates the jacobian for a specified link using provided joint positions. More...

bool	convert_cartesian_deltas_to_joint_deltas (std::vector< double > &joint_pos_vec, const std::vector< double > &delta_x_vec, const std::string &link_name, std::vector< double > &delta_theta_vec)

bool	convert_joint_deltas_to_cartesian_deltas (const std::vector< double > &joint_pos_vec, const std::vector< double > &delta_theta_vec, const std::string &link_name, std::vector< double > &delta_x_vec)

bool	calculate_link_transform (const std::vector< double > &joint_pos_vec, const std::string &link_name, Eigen::Isometry3d &transform)

bool	calculate_jacobian (const std::vector< double > &joint_pos_vec, const std::string &link_name, Eigen::Matrix< double, 6, Eigen::Dynamic > &jacobian)

Member Function Documentation

◆ calculate_jacobian()

virtual bool kinematics_interface::KinematicsInterface::calculate_jacobian	(	const Eigen::VectorXd &	joint_pos,
		const std::string &	link_name,
		Eigen::Matrix< double, 6, Eigen::Dynamic > &	jacobian
	)

pure virtual

Calculates the jacobian for a specified link using provided joint positions.

Parameters

[in]	joint_pos	joint positions of the robot in radians
[in]	link_name	the name of the link to find the transform for
[out]	jacobian	Jacobian matrix of the specified link in column major format.

Returns: true if successful

Implemented in kinematics_interface_kdl::KinematicsInterfaceKDL.

◆ calculate_link_transform()

virtual bool kinematics_interface::KinematicsInterface::calculate_link_transform	(	const Eigen::VectorXd &	joint_pos,
		const std::string &	link_name,
		Eigen::Isometry3d &	transform
	)

pure virtual

Calculates the joint transform for a specified link using provided joint positions.

Parameters

[in]	joint_pos	joint positions of the robot in radians
[in]	link_name	the name of the link to find the transform for
[out]	transform	transformation matrix of the specified link

Returns: true if successful

Implemented in kinematics_interface_kdl::KinematicsInterfaceKDL.

◆ convert_cartesian_deltas_to_joint_deltas()

virtual bool kinematics_interface::KinematicsInterface::convert_cartesian_deltas_to_joint_deltas	(	const Eigen::VectorXd &	joint_pos,
		const Eigen::Matrix< double, 6, 1 > &	delta_x,
		const std::string &	link_name,
		Eigen::VectorXd &	delta_theta
	)

pure virtual

Convert Cartesian delta-x to joint delta-theta, using the Jacobian.

Parameters

[in]	joint_pos	joint positions of the robot in radians
[in]	delta_x	input Cartesian deltas (x, y, z, wx, wy, wz)
[in]	link_name	the link name at which delta_x is applied
[out]	delta_theta	outputs joint deltas

Returns: true if successful

Implemented in kinematics_interface_kdl::KinematicsInterfaceKDL.

◆ convert_joint_deltas_to_cartesian_deltas()

virtual bool kinematics_interface::KinematicsInterface::convert_joint_deltas_to_cartesian_deltas	(	const Eigen::VectorXd &	joint_pos,
		const Eigen::VectorXd &	delta_theta,
		const std::string &	link_name,
		Eigen::Matrix< double, 6, 1 > &	delta_x
	)

pure virtual

Convert joint delta-theta to Cartesian delta-x.

Parameters

	joint_pos	joint positions of the robot in radians
[in]	delta_theta	joint deltas
[in]	link_name	the link name at which delta_x is calculated
[out]	delta_x	Cartesian deltas (x, y, z, wx, wy, wz)

Returns: true if successful

Implemented in kinematics_interface_kdl::KinematicsInterfaceKDL.

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

kinematics_interface/kinematics_interface/include/kinematics_interface/kinematics_interface.hpp
kinematics_interface/kinematics_interface/src/kinematics_interface.cpp

Public Member Functions

Member Function Documentation

◆ calculate_jacobian()

◆ calculate_link_transform()

◆ convert_cartesian_deltas_to_joint_deltas()

◆ convert_joint_deltas_to_cartesian_deltas()