robot_model.hpp File Reference

#include "hebi.h"
#include <memory>
#include <vector>
#include "Eigen/Eigen"
#include "util.hpp"

Go to the source code of this file.

Classes
struct	hebi::robot_model::IKResult
class	hebi::robot_model::Objective
class	hebi::robot_model::EndEffectorPositionObjective
class	hebi::robot_model::EndEffectorSO3Objective
class	hebi::robot_model::EndEffectorTipAxisObjective
class	hebi::robot_model::JointLimitConstraint
class	hebi::robot_model::CustomObjective< N >
	Allows you to add a custom objective function. More...
class	hebi::robot_model::MetadataBase
	Base class for all metadata. Do not instantiate directly. More...
class	hebi::robot_model::ActuatorMetadata
	Actuator specific view of an element in a RobotModel instance. More...
class	hebi::robot_model::BracketMetadata
	Bracket specific view of an element in a RobotModel instance. More...
class	hebi::robot_model::JointMetadata
	Joint specific view of an element in a RobotModel instance. More...
class	hebi::robot_model::LinkMetadata
	Link specific view of an element in a RobotModel instance. More...
class	hebi::robot_model::RigidBodyMetadata
	Rigid Body specific view of an element in a RobotModel instance. More...
class	hebi::robot_model::RobotModel
	Represents a chain or tree of robot elements (rigid bodies and joints). More...

Namespaces
	hebi
	hebi::robot_model

Typedefs
using	hebi::robot_model::Matrix4dVector = std::vector< Matrix4d, Eigen::aligned_allocator< Eigen::Matrix4d > >
using	hebi::robot_model::MatrixXdVector = std::vector< MatrixXd, Eigen::aligned_allocator< Eigen::MatrixXd > >

Functions
template<size_t T>
void	hebi::robot_model::custom_objective_callback_wrapper (void *user_data, size_t num_positions, const double *positions, double *errors)
	C-style callback wrapper to call into CustomObjective class; this should only be used by the CustomObjective class itself. More...