aikido::planner::dart::util Namespace Reference

Functions
Eigen::Vector3d	getEndEffectorDirection (const ::dart::dynamics::ConstBodyNodePtr &body)
	Returns the direction of an end-effector (along z axis) in the world frame. More...

Function Documentation

getEndEffectorDirection()

Eigen::Vector3d aikido::planner::dart::util::getEndEffectorDirection

(

const ::dart::dynamics::ConstBodyNodePtr &

body

)

Returns the direction of an end-effector (along z axis) in the world frame.

Parameters

[in]

body

Bodynode for the end-effector

Returns

The direction of the end-effector (z axis of the frame)