KrisLibrary
1.0.0
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Function class that returns the world-space position of a point on the robot. More...
#include <IKFunctions.h>
Public Member Functions | |
WorldPositionFunction (RobotKinematics3D &, const Vector3 &pi, int i, const ArrayMapping &activeDofs) | |
int | GetDOF (int dim) const |
virtual std::string | Label () const |
virtual int | NumDimensions () const |
virtual void | Eval (const Vector &x, Vector &v) |
virtual Real | Eval_i (const Vector &x, int i) |
virtual void | Jacobian (const Vector &x, Matrix &J) |
Public Attributes | |
RobotKinematics3D & | robot |
Vector3 | ploc |
int | link |
const ArrayMapping & | activeDofs |
Function class that returns the world-space position of a point on the robot.
An individual component of a RobotIKFunction. Requres robot.q to be set, and the chain updated before PreEval is called.