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Function signature changed to allow forward kinematics to calculate any joint's pose

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Derek Witcpalek
2020-04-26 12:48:42 -04:00
parent 3a2c3bb2cc
commit 719dcc9ac3
1 changed files with 1 additions and 1 deletions
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src/rrrobot_ws/src/rrrobot/include/arm_representation.h
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@@ -41,7 +41,7 @@ class ArmRepresentation
public: public:
ArmRepresentation(const KDL::Frame &base_pose = KDL::Frame(KDL::Rotation::Quaternion(0, 0, 0, 1), KDL::Vector(0.3, 0.92, 0.9))); //KDL::Frame(KDL::Vector(0.3, 0.92, 1))); ArmRepresentation(const KDL::Frame &base_pose = KDL::Frame(KDL::Rotation::Quaternion(0, 0, 0, 1), KDL::Vector(0.3, 0.92, 0.9))); //KDL::Frame(KDL::Vector(0.3, 0.92, 1)));
int calculateForwardKinematics(const KDL::JntArray &joint_positions, KDL::Frame &end_effector_pose); int calculateForwardKinematics(const KDL::JntArray &joint_positions, KDL::Frame &end_effector_pose, int joint_nbr = -1);
int calculateInverseKinematics(const KDL::JntArray &cur_configuration, int calculateInverseKinematics(const KDL::JntArray &cur_configuration,
const KDL::Frame &desired_end_effector_pose, const KDL::Frame &desired_end_effector_pose,