#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 55 of file GraspTrajectory.h.

Constructor & Destructor Documentation

◆ Keypoint() [1/2]

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

Definition at line 33 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 44 of file GraspTrajectory.cpp.

Member Function Documentation

◆ getTargetOrientation()

Eigen::Matrix3f getTargetOrientation ( ) const

Definition at line 66 of file GraspTrajectory.cpp.

◆ getTargetPose()

Eigen::Matrix4f getTargetPose ( ) const

Definition at line 72 of file GraspTrajectory.cpp.

◆ getTargetPosition()

Eigen::Vector3f getTargetPosition ( ) const

Definition at line 60 of file GraspTrajectory.cpp.

◆ updateVelocities()

void updateVelocities	(	const KeypointPtr &	prev,
		float	dt
	)

Definition at line 78 of file GraspTrajectory.cpp.

Member Data Documentation

◆ dt

float dt

Definition at line 60 of file GraspTrajectory.h.

◆ feedForwardHandJointsVelocity

Eigen::VectorXf feedForwardHandJointsVelocity

Definition at line 63 of file GraspTrajectory.h.

◆ feedForwardOriVelocity

Eigen::Vector3f feedForwardOriVelocity

Definition at line 62 of file GraspTrajectory.h.

◆ feedForwardPosVelocity

Eigen::Vector3f feedForwardPosVelocity

Definition at line 61 of file GraspTrajectory.h.

◆ handJointsTarget

Eigen::VectorXf handJointsTarget

Definition at line 59 of file GraspTrajectory.h.

◆ tcpTarget

Eigen::Matrix4f tcpTarget

Definition at line 58 of file GraspTrajectory.h.

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

RobotAPI/libraries/diffik/GraspTrajectory.h
RobotAPI/libraries/diffik/GraspTrajectory.cpp

Public Member Functions

Public Attributes