#include <cmath>
#include <algorithm>
#include "ros/ros.h"
#include <math_utils/angle_utils.h>
#include <Eigen/Core>
#include <kindr/Core>

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Classes
class	Kinematics
	A class for analytical Kinematics Solving. More...

Typedefs
using	GeneralizedCoordinates = Eigen::Matrix< double, 18, 1 >

using	FootstepPositions = Eigen::Matrix< Eigen::Vector3d, 4, 1 >

using	JointSpaceVector = Eigen::Matrix< double, 12, 1 >

using	Twist = Eigen::Matrix< double, 6, 1 >

using	Vector3d = Eigen::Vector3d

using	TransMatrix = kindr::HomTransformMatrixD

Typedef Documentation

◆ GeneralizedCoordinates

using GeneralizedCoordinates = Eigen::Matrix<double, 18, 1>

Definition at line 45 of file kinematics.h.

◆ FootstepPositions

using FootstepPositions = Eigen::Matrix<Eigen::Vector3d, 4, 1>

Definition at line 46 of file kinematics.h.

◆ JointSpaceVector

using JointSpaceVector = Eigen::Matrix<double, 12, 1>

Definition at line 47 of file kinematics.h.

◆ Twist

using Twist = Eigen::Matrix<double, 6, 1>

Definition at line 48 of file kinematics.h.

◆ Vector3d

using Vector3d = Eigen::Vector3d

Definition at line 49 of file kinematics.h.

◆ TransMatrix

using TransMatrix = kindr::HomTransformMatrixD

Definition at line 50 of file kinematics.h.

Classes