Inheritance diagram for bio_ik::RobotFK_Jacobian:

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Collaboration diagram for bio_ik::RobotFK_Jacobian:

Public Member Functions
	RobotFK_Jacobian (moveit::core::RobotModelConstPtr model)

void	initialize (const std::vector< size_t > &tip_link_indices)

void	computeJacobian (const std::vector< size_t > &variable_indices, Eigen::MatrixXd &jacobian)

Public Member Functions inherited from bio_ik::RobotFK_Fast
	RobotFK_Fast (moveit::core::RobotModelConstPtr model)

void	incrementalBegin (const std::vector< double > &jj)

void	incrementalEnd ()

void	applyConfiguration (const std::vector< double > &jj)

Public Member Functions inherited from bio_ik::RobotFK_Fast_Base
	RobotFK_Fast_Base (moveit::core::RobotModelConstPtr model)

void	initialize (const std::vector< size_t > &tip_link_indices)

void	applyConfiguration (const std::vector< double > &jj0)

const Frame &	getTipFrame (size_t fi) const

const std::vector< Frame > &	getTipFrames () const

void	incrementalBegin (const std::vector< double > &jj)

void	incrementalEnd ()

const Frame &	getJointVariableFrame (size_t variable_index)

Protected Attributes
std::vector< std::vector< const moveit::core::JointModel * > >	joint_dependencies

std::vector< int >	tip_dependencies

Protected Attributes inherited from bio_ik::RobotFK_Fast
std::vector< std::vector< Frame > >	chain_cache

std::vector< double >	vars

std::vector< double >	variables0

std::vector< Frame >	test_tips

std::vector< uint8_t >	links_changed

bool	use_incremental

bool	last_use_incremental

Protected Attributes inherited from bio_ik::RobotFK_Fast_Base
std::vector< std::string >	tip_names

std::vector< Frame >	tip_frames

std::vector< const moveit::core::LinkModel * >	tip_links

std::vector< const moveit::core::LinkModel * >	link_schedule

std::vector< Frame >	global_frames

std::vector< std::vector< const moveit::core::LinkModel * > >	link_chains

std::vector< size_t >	active_variables

std::vector< std::pair< size_t, size_t > >	variable_to_link_map

std::vector< size_t >	variable_to_link_map_2

std::vector< std::pair< size_t, size_t > >	variable_to_link_chain_map

Protected Attributes inherited from bio_ik::RobotJointEvaluator
std::vector< Vector3 >	joint_axis_list

moveit::core::RobotModelConstPtr	robot_model

std::vector< double >	variables

Additional Inherited Members
Protected Member Functions inherited from bio_ik::RobotFK_Fast
void	updateIncremental (const std::vector< double > &vars0)

Protected Member Functions inherited from bio_ik::RobotFK_Fast_Base
void	updateMimic (std::vector< double > &values)

Protected Member Functions inherited from bio_ik::RobotJointEvaluator
const Frame &	getLinkFrame (const moveit::core::LinkModel *link_model)

bool	checkJointMoved (const moveit::core::JointModel *joint_model)

void	putJointCache (const moveit::core::JointModel *joint_model, const Frame &frame)

const Frame &	getJointFrame (const moveit::core::JointModel *joint_model)

void	getJointFrame (const moveit::core::JointModel joint_model, const double variables, Frame &frame)

void	getJointFrame (const moveit::core::JointModel *joint_model, const std::vector< double > &variables, Frame &frame)

	RobotJointEvaluator (moveit::core::RobotModelConstPtr model)

Detailed Description

Definition at line 552 of file forward_kinematics.h.

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

Public Member Functions