exotica::KinematicResponse Struct Reference

The KinematicResponse is the container to keep kinematic update data. The corresponding KinematicSolution is created from and indexes into a KinematicResponse. More...

#include <kinematic_tree.h>

Collaboration diagram for exotica::KinematicResponse:

Public Member Functions
	KinematicResponse ()
	KinematicResponse (KinematicRequestFlags _flags, int _size, int _N=0)

Public Attributes
KinematicRequestFlags	flags = KinematicRequestFlags::KIN_FK
std::vector< KinematicFrame >	frame
Eigen::VectorXd	x
ArrayFrame	Phi
ArrayTwist	Phi_dot
ArrayJacobian	jacobian
ArrayHessian	hessian

Detailed Description

The KinematicResponse is the container to keep kinematic update data. The corresponding KinematicSolution is created from and indexes into a KinematicResponse.

Constructor & Destructor Documentation

KinematicResponse() [1/2]

exotica::KinematicResponse::KinematicResponse

(

)

KinematicResponse() [2/2]

exotica::KinematicResponse::KinematicResponse	(	KinematicRequestFlags	_flags,
		int	_size,
		int	_N = 0
	)

Member Data Documentation

flags

KinematicRequestFlags exotica::KinematicResponse::flags = KinematicRequestFlags::KIN_FK

frame

std::vector<KinematicFrame> exotica::KinematicResponse::frame

hessian

ArrayHessian exotica::KinematicResponse::hessian

jacobian

ArrayJacobian exotica::KinematicResponse::jacobian

Phi

ArrayFrame exotica::KinematicResponse::Phi

Phi_dot

ArrayTwist exotica::KinematicResponse::Phi_dot

x

Eigen::VectorXd exotica::KinematicResponse::x

---

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

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