ex_rnea_pick_place.cpp File Reference

#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include "example_paths.hpp"
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainiksolvervel_wdls.hpp>
#include <algorithm>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <string>
#include <vector>

Go to the source code of this file.

Classes
struct	Phase

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

Function Documentation

main()

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

Definition at line 149 of file ex_rnea_pick_place.cpp.

References mj_kdl::SceneSpec::add_floor, mj_kdl::SceneSpec::add_skybox, mj_kdl_examples::asset(), mj_kdl::AttachmentSpec::attach_to, mj_kdl::RobotSpec::attachments, mj_kdl::build_scene(), mj_kdl::Robot::chain, mj_kdl::cleanup(), mj_kdl::Robot::ctrl_mode, mj_kdl::Env::data, mj_kdl::destroy_scene(), mj_kdl::env_add_robot(), mj_kdl::SceneSpec::gravity_z, mj_kdl::init_robot_from_mjcf(), mj_kdl::init_window_sim(), mj_kdl::Robot::kdl_to_mj_dof, mj_kdl_examples::menagerie_model(), mj_kdl::AttachmentSpec::mjcf_path, mj_kdl::Env::model, mj_kdl::SceneSpec::objects, mj_kdl::Env::on_reset, mj_kdl::RobotSpec::path, mj_kdl::RobotSpec::pos, mj_kdl::AttachmentSpec::prefix, mj_kdl::reset(), mj_kdl::SceneSpec::robots, mj_kdl::set_joint_pos(), mj_kdl::Site, mj_kdl::Env::spec, mj_kdl::step(), mj_kdl::ToolFrameSpec::tcp_site, mj_kdl::SceneSpec::timestep, mj_kdl::Robot::tip_T_tcp, mj_kdl::ToolFrameSpec::tool_body, mj_kdl::TORQUE, and mj_kdl::update().