C++ (Cpp) Get_link_2_joint_3_LinkJointTransform Examples

Example #1

File: ur_10_fk_fast.hpp Project: WPI-ARC/arc_utilities

 inline EigenHelpers::VectorIsometry3d GetLinkTransforms(const std::vector<double>& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity())
 {
     assert(configuration.size() == UR_10_NUM_ACTIVE_JOINTS);
     EigenHelpers::VectorIsometry3d link_transforms(UR_10_NUM_LINKS);
     link_transforms[0] = base_transform;
     link_transforms[1] = link_transforms[0] * Get_link_0_joint_1_LinkJointTransform(configuration[0]);
     link_transforms[2] = link_transforms[1] * Get_link_1_joint_2_LinkJointTransform(configuration[1]);
     link_transforms[3] = link_transforms[2] * Get_link_2_joint_3_LinkJointTransform(configuration[2]);
     link_transforms[4] = link_transforms[3] * Get_link_3_joint_4_LinkJointTransform(configuration[3]);
     link_transforms[5] = link_transforms[4] * Get_link_4_joint_5_LinkJointTransform(configuration[4]);
     link_transforms[6] = link_transforms[5] * Get_link_5_joint_6_LinkJointTransform(configuration[5]);
     return link_transforms;
 }

Example #2

File: abb_irb1600_145_fk_fast.hpp Project: orthez/arc_utilities

 inline VectorAffine3d GetLinkTransforms(const std::vector<double>& configuration)
 {
     assert(configuration.size() == ABB_IRB1600_145_NUM_ACTIVE_JOINTS);
     VectorAffine3d link_transforms(ABB_IRB1600_145_NUM_LINKS);
     link_transforms[0] = Eigen::Affine3d::Identity();
     link_transforms[1] = link_transforms[0] * Get_base_joint1_LinkJointTransform(configuration[0]);
     link_transforms[2] = link_transforms[1] * Get_link_1_joint_2_LinkJointTransform(configuration[1]);
     link_transforms[3] = link_transforms[2] * Get_link_2_joint_3_LinkJointTransform(configuration[2]);
     link_transforms[4] = link_transforms[3] * Get_link_3_joint_4_LinkJointTransform(configuration[3]);
     link_transforms[5] = link_transforms[4] * Get_link_4_joint_5_LinkJointTransform(configuration[4]);
     link_transforms[6] = link_transforms[5] * Get_link_5_joint_6_LinkJointTransform(configuration[5]);
     link_transforms[7] = link_transforms[6] * Get_Fixed_link_6_joint_tool_LinkJointTransform();
     return link_transforms;
 }