#include <kinematics.hpp>
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| template<class MatT > |
| static Eigen::Matrix< typename MatT::Scalar, MatT::ColsAtCompileTime, MatT::RowsAtCompileTime > | pseudoinverse (const MatT &mat, typename MatT::Scalar tolerance=typename MatT::Scalar{1e-4}) |
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| static std::array< double, 16 > | forward (const Eigen::Matrix< double, 7, 1 > &q) |
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| static std::array< double, 16 > | forwardElbow (const Eigen::Matrix< double, 7, 1 > &q) |
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| static Eigen::Matrix< double, 6, 1 > | forwardEuler (const Eigen::Matrix< double, 7, 1 > &q) |
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| static Eigen::Matrix< double, 6, 7 > | jacobian (const Eigen::Matrix< double, 7, 1 > &q) |
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| static Eigen::Matrix< double, 7, 1 > | inverse (const Eigen::Matrix< double, 6, 1 > &x_target, const Eigen::Matrix< double, 7, 1 > &q0, std::optional< NullSpaceHandling > null_space=std::nullopt) |
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◆ forward()
| std::array< double, 16 > frankx::Kinematics::forward |
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const Eigen::Matrix< double, 7, 1 > & |
q | ) |
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◆ forwardElbow()
| std::array< double, 16 > frankx::Kinematics::forwardElbow |
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const Eigen::Matrix< double, 7, 1 > & |
q | ) |
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◆ forwardEuler()
| Eigen::Matrix< double, 6, 1 > frankx::Kinematics::forwardEuler |
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const Eigen::Matrix< double, 7, 1 > & |
q | ) |
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◆ inverse()
| Eigen::Matrix< double, 7, 1 > frankx::Kinematics::inverse |
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const Eigen::Matrix< double, 6, 1 > & |
x_target, |
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const Eigen::Matrix< double, 7, 1 > & |
q0, |
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std::optional< NullSpaceHandling > |
null_space = std::nullopt |
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) |
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◆ jacobian()
| Eigen::Matrix< double, 6, 7 > frankx::Kinematics::jacobian |
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const Eigen::Matrix< double, 7, 1 > & |
q | ) |
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◆ pseudoinverse()
template<class MatT >
| static Eigen::Matrix<typename MatT::Scalar, MatT::ColsAtCompileTime, MatT::RowsAtCompileTime> frankx::Kinematics::pseudoinverse |
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const MatT & |
mat, |
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typename MatT::Scalar |
tolerance = typename MatT::Scalar{1e-4} |
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) |
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inlinestatic |
The documentation for this struct was generated from the following files:
