tesseract_robotics.tesseract_kinematics

This module provides kinematics support. These are typically accessed through the environment classes. See: tesseract_kinematics_example.py for examples of using forward and inverse kinematics. The kinematics functionality is provided using plugins, that must be configured by yaml files. See the documentation for the main Tesseract package for more details on configuring plugins. See the example for more information.

Classes

ForwardKinematics Class

ForwardKinematicsUPtr Class

FwdKinFactory Class

InvKinFactory Class

InverseKinematics Class

InverseKinematicsUPtr Class

JointGroup Class

JointGroupUPtr Class

KinGroupIKInput Class

KinematicGroup Class

KinematicGroupUPtr Class

KinematicsPluginFactory Class

Manipulability Class

ManipulabilityEllipsoid Class

URParameters Class

Functions

calcManipulability Function

dampedPInv Function

getRedundantSolutions Function

isNearSingularity Function

numericalJacobian Function

solvePInv Function

Container Templates

pair_bool_matrix -> std::pair<bool,Eigen::MatrixXd>
KinGroupIKInputs -> tesseract_common::AlignedVector<tesseract_kinematics::KinGroupIKInput>