ex_rnea_pick_place.cpp File Reference

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

Go to the source code of this file.

Classes
struct	FreeObject
struct	RneaArm

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

Function Documentation

main()

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

Definition at line 134 of file ex_rnea_pick_place.cpp.

References mj_kdl_examples::asset(), mj_kdl::RobotSpec::attachments, mj_kdl::bind_scene_actuator(), mj_kdl::bind_scene_free_body(), mj_kdl::SceneSpec::cameras, mj_kdl::cleanup(), mj_kdl_examples::cube_object(), mj_kdl::Env::data, mj_kdl::get_body_frame(), mj_kdl::SceneSpec::gravity_z, mj_kdl_examples::gripper_attachment(), mj_kdl_examples::gripper_tool(), FreeObject::half, mj_kdl_examples::Args::headless, mj_kdl_examples::PickPlaceWaypoints::home, mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), mj_kdl_examples::kPickXY, mj_kdl_examples::kPlaceXY, mj_kdl_examples::kTableZ, mj_kdl::Env::model, FreeObject::name, mj_kdl::SceneObject::name, mj_kdl::SceneSpec::objects, mj_kdl::Env::on_reset, mj_kdl::open_viewer(), KDL::Frame::p, mj_kdl_examples::parse_args(), mj_kdl::RobotSpec::path, mj_kdl_examples::pick_place_phases(), mj_kdl::RobotSpec::pos, mj_kdl::RobotSpec::prefix, mj_kdl_examples::prime_gravity(), mj_kdl::RobotSpec::quat, mj_kdl::reset(), mj_kdl::SceneSpec::robots, mj_kdl_examples::run_phases(), mj_kdl::Env::scene, mj_kdl_examples::scene_spec(), mj_kdl::set_body_pose(), mj_kdl::set_control_mode(), mj_kdl::set_joint_pos(), mj_kdl_examples::solve_pick_place(), mj_kdl_examples::table_object(), mj_kdl::TORQUE, mj_kdl::update(), mj_kdl_examples::verdict(), FreeObject::x, KDL::Vector::x(), FreeObject::y, KDL::Vector::y(), and KDL::Vector::z().