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>