validate.cpp File Reference

This contains utility function validate things like forward kinematics match inverse kinematics. More...

#include <tesseract/common/macros.h>
#include <Eigen/Geometry>
#include <console_bridge/console.h>
#include <sstream>
#include <tesseract/kinematics/validate.h>
#include <tesseract/common/utils.h>
#include <tesseract/kinematics/kinematic_group.h>

Functions
bool	tesseract::kinematics::checkKinematics (const KinematicGroup &manip, double tol=1e-3)
	This compares calcFwdKin to calcInvKin for a KinematicGroup.

Detailed Description

This contains utility function validate things like forward kinematics match inverse kinematics.

Author

Levi Armstrong

Date

April 15, 2018

Copyright

Copyright (c) 2013, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

checkKinematics()

bool tesseract::kinematics::checkKinematics	(	const KinematicGroup &	manip,
		double	tol = 1e-3
	)

This compares calcFwdKin to calcInvKin for a KinematicGroup.

It checks that the following are the same:

• The forward kinematic solution matches the inverse kinematic solutions

  Parameters

  manip

  The kinematic group for a manipulator

  Returns

  True it they match, otherwise false.