ex_table_pick_place.cpp File Reference

#include "common.hpp"
#include "example_paths.hpp"
#include <kdl/chainjnttojacsolver.hpp>
#include <algorithm>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <string>

Go to the source code of this file.

Classes
struct	Metrics

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

Function Documentation

main()

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

Definition at line 61 of file ex_table_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::bind_scene_wrench(), mj_kdl::SceneWrenchSlot::body_id, mj_kdl::Robot::chain, KDL::Jacobian::changeRefPoint(), mj_kdl::cleanup(), mj_kdl::SceneActuatorSlot::ctrl_id, mj_kdl_examples::cube_object(), Metrics::cube_slip, mj_kdl::Env::data, KDL::dot(), Metrics::elbow_min, mj_kdl::get_body_frame(), KDL::Jacobian::getColumn(), KDL::Chain::getNrOfJoints(), mj_kdl::SceneSpec::gravity_z, mj_kdl_examples::gripper_attachment(), mj_kdl_examples::gripper_tool(), mj_kdl_examples::Args::headless, mj_kdl_examples::PickPlaceWaypoints::home, mj_kdl::init_env(), mj_kdl::init_robot_from_mjcf(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), mj_kdl_examples::kCubeHS, mj_kdl_examples::kKd, mj_kdl_examples::kKp, mj_kdl_examples::kPickXY, mj_kdl_examples::kPlaceXY, mj_kdl_examples::kTableZ, Metrics::lag0, mj_kdl_examples::Phase::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::pd_gravity(), Metrics::peak, mj_kdl_examples::pick_place_phases(), mj_kdl_examples::place_cube(), mj_kdl::RobotSpec::pos, mj_kdl::SceneFreeBodyReading::pose, Metrics::predicted, mj_kdl_examples::prime_gravity(), mj_kdl_examples::read_q(), mj_kdl::reset(), Metrics::residual, mj_kdl::SceneSpec::robots, mj_kdl_examples::run_phases(), mj_kdl::Env::scene, mj_kdl_examples::scene_spec(), 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(), KDL::Twist::vel, mj_kdl_examples::verdict(), mj_kdl::SceneWrenchCommand::wrench, KDL::Vector::x(), KDL::Vector::y(), KDL::Vector::z(), and KDL::Vector::Zero().