Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
PlanarManipulator Class Reference

Public Member Functions

 PlanarManipulator (unsigned int numLinks, double linkLength, const std::pair< double, double > &origin={0.0, 0.0})
 
 PlanarManipulator (unsigned int numLinks, const std::vector< double > &linkLengths, const std::pair< double, double > &origin={0.0, 0.0})
 
unsigned int getNumLinks () const
 
const Eigen::Affine2d & getBaseFrame () const
 
void setBaseFrame (const Eigen::Affine2d &frame)
 
const std::vector< double > & getLinkLengths () const
 
void setBounds (unsigned int link, double low, double high)
 
void setBounds (const std::vector< double > &low, const std::vector< double > &high)
 
bool hasBounds (unsigned int link) const
 
void getBounds (unsigned int link, double &low, double &high) const
 
const std::vector< double > & lowerBounds () const
 
const std::vector< double > & upperBounds () const
 
void FK (const double *joints, std::vector< Eigen::Affine2d > &frames) const
 
void FK (const std::vector< double > &joints, std::vector< Eigen::Affine2d > &frames) const
 
void FK (const Eigen::VectorXd &joints, std::vector< Eigen::Affine2d > &frames) const
 
void FK (const double *joints, Eigen::Affine2d &eeFrame) const
 
void FK (const std::vector< double > &joints, Eigen::Affine2d &eeFrame) const
 
void FK (const Eigen::VectorXd &joints, Eigen::Affine2d &eeFrame) const
 
bool IK (std::vector< double > &solution, const Eigen::Affine2d &eeFrame) const
 
bool IK (std::vector< double > &solution, const std::vector< double > &seed, const Eigen::Affine2d &desiredFrame) const
 
bool FABRIK (std::vector< double > &solution, const Eigen::Affine2d &eeFrame, double xyTol=1e-5, double thetaTol=1e-3) const
 
bool FABRIK (std::vector< double > &solution, const std::vector< double > &seed, const Eigen::Affine2d &desiredFrame, double xyTol=1e-5, double thetaTol=1e-3) const
 
void Jacobian (const std::vector< double > &joints, Eigen::MatrixXd &jac) const
 
void Jacobian (const Eigen::VectorXd &joints, Eigen::MatrixXd &jac) const
 
void Jacobian (const double *joints, Eigen::MatrixXd &jac) const
 

Static Public Member Functions

static void frameToPose (const Eigen::Affine2d &frame, Eigen::VectorXd &pose)
 

Protected Member Functions

bool infeasible (const Eigen::Affine2d &frame) const
 

Protected Attributes

unsigned int numLinks_
 
std::vector< double > linkLengths_
 
std::vector< bool > hasBounds_
 
std::vector< double > lowerBounds_
 
std::vector< double > upperBounds_
 
Eigen::Affine2d baseFrame_
 

Detailed Description

Definition at line 43 of file PlanarManipulator.h.

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