List of all members | Public Member Functions | Public Attributes
GraspTrajectory::Keypoint Class Reference

#include <RobotAPI/libraries/diffik/GraspTrajectory.h>

Public Member Functions

Eigen::Matrix3f getTargetOrientation () const
 
Eigen::Matrix4f getTargetPose () const
 
Eigen::Vector3f getTargetPosition () const
 
 Keypoint (const Eigen::Matrix4f &tcpTarget, const Eigen::VectorXf &handJointsTarget)
 
 Keypoint (const Eigen::Matrix4f &tcpTarget, const Eigen::VectorXf &handJointsTarget, float dt, const Eigen::Vector3f &feedForwardPosVelocity, const Eigen::Vector3f &feedForwardOriVelocity, const Eigen::VectorXf &feedForwardHandJointsVelocity)
 
void updateVelocities (const KeypointPtr &prev, float dt)
 

Public Attributes

float dt
 
Eigen::VectorXf feedForwardHandJointsVelocity
 
Eigen::Vector3f feedForwardOriVelocity
 
Eigen::Vector3f feedForwardPosVelocity
 
Eigen::VectorXf handJointsTarget
 
Eigen::Matrix4f tcpTarget
 

Detailed Description

Definition at line 59 of file GraspTrajectory.h.

Constructor & Destructor Documentation

◆ Keypoint() [1/2]

Keypoint ( const Eigen::Matrix4f &  tcpTarget,
const Eigen::VectorXf &  handJointsTarget 
)

Definition at line 31 of file GraspTrajectory.cpp.

◆ Keypoint() [2/2]

Keypoint ( const Eigen::Matrix4f &  tcpTarget,
const Eigen::VectorXf &  handJointsTarget,
float  dt,
const Eigen::Vector3f &  feedForwardPosVelocity,
const Eigen::Vector3f &  feedForwardOriVelocity,
const Eigen::VectorXf &  feedForwardHandJointsVelocity 
)

Definition at line 37 of file GraspTrajectory.cpp.

Member Function Documentation

◆ getTargetOrientation()

Eigen::Matrix3f getTargetOrientation ( ) const

Definition at line 50 of file GraspTrajectory.cpp.

◆ getTargetPose()

Eigen::Matrix4f getTargetPose ( ) const

Definition at line 55 of file GraspTrajectory.cpp.

◆ getTargetPosition()

Eigen::Vector3f getTargetPosition ( ) const

Definition at line 45 of file GraspTrajectory.cpp.

◆ updateVelocities()

void updateVelocities ( const KeypointPtr &  prev,
float  dt 
)

Definition at line 60 of file GraspTrajectory.cpp.

Member Data Documentation

◆ dt

float dt

Definition at line 64 of file GraspTrajectory.h.

◆ feedForwardHandJointsVelocity

Eigen::VectorXf feedForwardHandJointsVelocity

Definition at line 67 of file GraspTrajectory.h.

◆ feedForwardOriVelocity

Eigen::Vector3f feedForwardOriVelocity

Definition at line 66 of file GraspTrajectory.h.

◆ feedForwardPosVelocity

Eigen::Vector3f feedForwardPosVelocity

Definition at line 65 of file GraspTrajectory.h.

◆ handJointsTarget

Eigen::VectorXf handJointsTarget

Definition at line 63 of file GraspTrajectory.h.

◆ tcpTarget

Eigen::Matrix4f tcpTarget

Definition at line 62 of file GraspTrajectory.h.

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