ex_achd_pick_place.cpp File Reference

#include "common.hpp"
#include "example_paths.hpp"
#include <kdl/chainfksolvervel_recursive.hpp>
#include <kdl/chainhdsolver_vereshchagin.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <algorithm>
#include <array>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <string>
#include <vector>

Go to the source code of this file.

Classes
struct	Phase
struct	AchdController

Functions
int	main (int argc, char *argv[])

Function Documentation

main()

int main	(	int	argc,
		char *	argv[] )

Definition at line 151 of file ex_achd_pick_place.cpp.

References KDL::addDelta(), mj_kdl_examples::asset(), mj_kdl::RobotSpec::attachments, mj_kdl::bind_scene_actuator(), mj_kdl::bind_scene_free_body(), mj_kdl::VideoRecorder::cam, mj_kdl::Robot::chain, mj_kdl::cleanup(), mj_kdl::SceneActuatorCommand::command, AchdController::control(), mj_kdl::SceneActuatorSlot::ctrl_id, mj_kdl_examples::cube_object(), mj_kdl::Env::data, KDL::diff(), mj_kdl::Status::error, AchdController::f_ext, AchdController::fk_pos, KDL::Segment::getName(), KDL::Chain::getNrOfJoints(), KDL::Chain::getNrOfSegments(), KDL::Chain::getSegment(), mj_kdl::SceneSpec::gravity_z, mj_kdl_examples::gripper_attachment(), mj_kdl_examples::gripper_tool(), mj_kdl_examples::Args::headless, mj_kdl_examples::home_q(), mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl::init_video_recorder(), KDL::ChainFkSolverPos_recursive::JntToCart(), mj_kdl_examples::kCubeHS, mj_kdl_examples::kGripperClosed, mj_kdl_examples::kPickXY, mj_kdl_examples::kPlaceXY, mj_kdl_examples::kTableZ, KDL::Frame::M, AchdController::measure(), mj_kdl::Env::model, AchdController::new_phase(), KDL::Vector::Norm(), mj_kdl::SceneSpec::objects, mj_kdl::Env::on_reset, mj_kdl::open_viewer(), KDL::Frame::p, mj_kdl::pace_realtime(), mj_kdl_examples::parse_args(), mj_kdl::RobotSpec::path, mj_kdl_examples::place_cube(), mj_kdl::RobotSpec::pos, mj_kdl::SceneFreeBodyReading::pose, mj_kdl_examples::prime_gravity(), AchdController::q, mj_kdl::R720p, mj_kdl_examples::Args::record, mj_kdl::record_frame(), mj_kdl_examples::Args::record_path, mj_kdl::reset(), mj_kdl::SceneSpec::robots, KDL::Twist::rot, mj_kdl::Env::scene, mj_kdl_examples::scene_spec(), mj_kdl::set_control_mode(), mj_kdl::set_joint_pos(), mj_kdl::step(), mj_kdl_examples::table_object(), mj_kdl::Robot::tip_T_tcp, mj_kdl::TORQUE, mj_kdl::update(), KDL::Twist::vel, mj_kdl_examples::verdict(), KDL::Vector::x(), KDL::Vector::y(), KDL::Vector::z(), KDL::Vector::Zero(), and KDL::Wrench::Zero().