VectorFieldUtil.hpp File Reference

#include <dart/dynamics/BodyNode.hpp>
#include "aikido/common/Spline.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "aikido/trajectory/Interpolated.hpp"
#include "aikido/trajectory/Spline.hpp"

Go to the source code of this file.

Namespaces
	aikido
	Format of serialized trajectory in YAML.
	aikido::planner
	aikido::planner::vectorfield

Functions
bool	aikido::planner::vectorfield::computeJointVelocityFromTwist (Eigen::VectorXd &jointVelocity, const Eigen::Vector6d &desiredTwist, const ::dart::dynamics::MetaSkeletonPtr metaSkeleton, const ::dart::dynamics::ConstBodyNodePtr bodyNode, double jointLimitPadding, const Eigen::VectorXd &jointVelocityLowerLimits, const Eigen::VectorXd &jointVelocityUpperLimits, bool enforceJointVelocityLimits, double stepSize)
	Compute joint velocity from a given twist. More...
Eigen::Vector6d	aikido::planner::vectorfield::computeGeodesicTwist (const Eigen::Isometry3d &fromTrans, const Eigen::Isometry3d &toTrans)
	Compute the twist in global coordinate that corresponds to the gradient of the geodesic distance between two transforms. More...
Eigen::Vector4d	aikido::planner::vectorfield::computeGeodesicError (const Eigen::Isometry3d &fromTrans, const Eigen::Isometry3d &toTrans)
	Compute the error in gloabl coordinate between two transforms. More...
double	aikido::planner::vectorfield::computeGeodesicDistance (const Eigen::Isometry3d &fromTrans, const Eigen::Isometry3d &toTrans, double r)
	Compute the geodesic distance between two transforms. More...