exotica::KinematicSolution Class Reference

The KinematicSolution is created from - and maps into - a KinematicResponse. More...

#include <kinematic_tree.h>

Collaboration diagram for exotica::KinematicSolution:

Public Member Functions
	KinematicSolution ()
	KinematicSolution (int start, int length)
void	Create (std::shared_ptr< KinematicResponse > solution)

Public Attributes
int	start = -1
int	length = -1
Eigen::Map< Eigen::VectorXd >	X {nullptr, 0}
Eigen::Map< ArrayFrame >	Phi {nullptr, 0}
Eigen::Map< ArrayTwist >	Phi_dot {nullptr, 0}
Eigen::Map< ArrayJacobian >	jacobian {nullptr, 0}
Eigen::Map< ArrayHessian >	hessian {nullptr, 0}

Detailed Description

The KinematicSolution is created from - and maps into - a KinematicResponse.

Constructor & Destructor Documentation

KinematicSolution() [1/2]

exotica::KinematicSolution::KinematicSolution

(

)

KinematicSolution() [2/2]

exotica::KinematicSolution::KinematicSolution	(	int	start,
		int	length
	)

Member Function Documentation

Create()

void exotica::KinematicSolution::Create

(

std::shared_ptr< KinematicResponse >

solution

)

Member Data Documentation

hessian

Eigen::Map<ArrayHessian> exotica::KinematicSolution::hessian {nullptr, 0}

jacobian

Eigen::Map<ArrayJacobian> exotica::KinematicSolution::jacobian {nullptr, 0}

length

int exotica::KinematicSolution::length = -1

Phi

Eigen::Map<ArrayFrame> exotica::KinematicSolution::Phi {nullptr, 0}

Phi_dot

Eigen::Map<ArrayTwist> exotica::KinematicSolution::Phi_dot {nullptr, 0}

start

int exotica::KinematicSolution::start = -1

X

Eigen::Map<Eigen::VectorXd> exotica::KinematicSolution::X {nullptr, 0}

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

• /tmp/exotica/exotica_core/include/exotica_core/kinematic_tree.h