ex_achd_table_slide.cpp File Reference

#include "common.hpp"
#include "example_paths.hpp"
#include <kdl/chainhdsolver_vereshchagin.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <kdl/kinfam_io.hpp>
#include <array>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <limits>
#include <string>

Go to the source code of this file.

Enumerations
enum class	Phase { Approach , Press , Slide }

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

Enumeration Type Documentation

Phase

enum class Phase

strong

Enumerator
Approach
Press
Slide

Definition at line 60 of file ex_achd_table_slide.cpp.

Function Documentation

main()

int main	(	int	argc,
		char **	argv )

Definition at line 162 of file ex_achd_table_slide.cpp.

References mj_kdl_examples::asset(), KDL::ChainHdSolver_Vereshchagin::CartToJnt(), KDL::ChainIdSolver_RNE::CartToJnt(), mj_kdl::Robot::chain, mj_kdl_examples::clamp_abs(), mj_kdl::cleanup(), mj_kdl::Env::data, KDL::diff(), KDL::Chain::getNrOfJoints(), KDL::Chain::getNrOfSegments(), mj_kdl::SceneSpec::gravity_z, mj_kdl_examples::Args::headless, mj_kdl_examples::home_q(), mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl::RobotPorts::jnt_pos_cmd, mj_kdl::RobotPorts::jnt_trq_cmd, KDL::ChainFkSolverPos_recursive::JntToCart(), mj_kdl::Env::model, 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::RobotSpec::pos, mj_kdl_examples::read_q(), mj_kdl::reset(), mj_kdl::SceneSpec::robots, KDL::Twist::rot, KDL::Rotation::RotX(), mj_kdl_examples::scene_spec(), mj_kdl::set_control_mode(), mj_kdl::set_joint_pos(), KDL::ChainHdSolver_Vereshchagin::setDriverWeights(), KDL::ChainIkSolverVel_wdls::setLambda(), mj_kdl_examples::solve_near_seed(), mj_kdl::step(), mj_kdl_examples::table_object(), mj_kdl::ToolFrameSpec::tcp_site, 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().