KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
WorldPositionFunction Struct Reference

Function class that returns the world-space position of a point on the robot. More...

#include <IKFunctions.h>

Inheritance diagram for WorldPositionFunction:

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

RobotKinematics3Drobot
 
Vector3 ploc
 
int link
 
const ArrayMappingactiveDofs
 

Detailed Description

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.


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