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ImFusion SDK 4.3
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ImFusion SDK 4.3
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#include <RoboticsPlugin/Include/ImFusion/Robotics/Model/RobotSolver.h>
Calculates the IK/FK of a RobotTreeImpl or a specific RobotChain. More...
Calculates the IK/FK of a RobotTreeImpl or a specific RobotChain.
Public Member Functions | |
| RobotSolver (const RobotTree *tree) | |
| Expected< isom3 > | segmentFk (const RobotSegmentPtr &segment, const JointPosition &jointPos) const |
| Expected< LinkPosition > | treeFk (const JointPosition &jointPos) const |
| Expected< JointPosition > | groupIk (const RobotGroupPtr &group, const LinkPosition &goalPoses, const std::optional< JointPosition > &init) const |
| Expected< isom3 > | chainFkPos (const RobotChainPtr &chain, const JointPosition &jointPos, int segmentPos) const |
| Expected< JointPosition > | chainIkPos (const RobotChainPtr &chain, const isom3 &goalPos, const std::optional< JointPosition > &init) const |
| Expected< JointPosition > | chainIkVel (const RobotChainPtr &chain, const vec6 &goalTwist, const JointPosition &init) const |
| Expected< JacobianMatrix > | chainJac (const RobotChainPtr &chain, const JointPosition &jointPos) |
| Expected< JointTorques > | chainCoriolis (const RobotChainPtr &chain, const JointPosition &jointPos, const JointVelocity &jointVel) const |
| Expected< JointTorques > | chainGravity (const RobotChainPtr &chain, const JointPosition &jointPos) const |