PikRos.hpp File Reference

#include "MoveItWrapper.hpp"
#include <Eigen/Dense>
#include <PtscEigen.hpp>

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Classes
struct	PikRos::IkTask
	Ik task structure. More...
struct	PikRos::Settings
	Solver settings. More...
class	PikRos::Gradient
	Gradient class. More...
class	PikRos::Pik
	Prioritized inverse kinematics solver. More...

Enumerations
enum	PikRos::IkTaskType { FRAME_POSITION, PikRos::FRAME_ORIENTATION, PikRos::FRAME_POSE, PikRos::FRAME_APPROACH_AXIS }
enum	ApproachAxis { X, Y, Z }

Detailed Description

Author

Ivo Vatavuk

Copyright

Released under the terms of the BSD 3-Clause License

Date

2023

Enumeration Type Documentation

IkTaskType

enum PikRos::IkTaskType

Enumerator
FRAME_ORIENTATION	< Frame position task, has a value of [x, y, z]^T in meters
FRAME_POSE	< Frame orientation task, has a quaternion value [w, x, y, z]^T
FRAME_APPROACH_AXIS	< Frame pose task, a combination of FRAME_POSITION and FRAME_ORIENTATION tasks < Frame approach axis task, has a value of a 3D vector [x, y, z]^T