bio_ik::RobotFK_Mutator Class Reference

Inheritance diagram for bio_ik::RobotFK_Mutator:

Collaboration diagram for bio_ik::RobotFK_Mutator:

Public Member Functions
	RobotFK_Mutator (moveit::core::RobotModelConstPtr model)
void	initializeMutationApproximator (const std::vector< size_t > &variable_indices)
void	computeApproximateMutation1 (size_t variable_index, double variable_delta, const aligned_vector< Frame > &input, aligned_vector< Frame > &output) const
void	computeApproximateMutations (size_t mutation_count, const double *const *mutation_values, std::vector< aligned_vector< Frame >> &tip_frame_mutations) const
Public Member Functions inherited from bio_ik::RobotFK_Jacobian
	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)

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)
Protected Attributes inherited from bio_ik::RobotFK_Jacobian
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

Detailed Description

Definition at line 782 of file forward_kinematics.h.

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

• src/forward_kinematics.h