lbr_fri_ros2::Kinematics Class Reference

Public Member Functions
	Kinematics (const std::string &robot_description, const std::string &chain_root="lbr_link_0", const std::string &chain_tip="lbr_link_ee")
const KDL::Jacobian &	compute_jacobian (const_jnt_array_t_ref q)
const KDL::Jacobian &	compute_jacobian (const std::vector< double > &q)
const KDL::Frame &	compute_fk (const_jnt_array_t_ref q)
const KDL::Frame &	compute_fk (const std::vector< double > &q)

Protected Attributes
KDL::Tree	tree_
KDL::Chain	chain_
std::unique_ptr< KDL::ChainJntToJacSolver >	jacobian_solver_
std::unique_ptr< KDL::ChainFkSolverPos_recursive >	fk_solver_
KDL::JntArray	q_
KDL::Frame	chain_tip_frame_
KDL::Jacobian	jacobian_

Static Protected Attributes
static constexpr char	LOGGER_NAME [] = "lbr_fri_ros2::Kinematics"

---

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

• lbr_fri_ros2_stack/lbr_fri_ros2/include/lbr_fri_ros2/kinematics.hpp
• lbr_fri_ros2_stack/lbr_fri_ros2/src/kinematics.cpp