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AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
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AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
|
The RobotState struct VARIABLE info about the robot (e.g. position of vehicle respect world) More...
#include <infos.h>
Public Attributes | |
| Eigen::Matrix4d | wTv_eigen |
| Transforms. | |
| Eigen::Matrix4d | link0Tee_eigen |
| Eigen::Matrix4d | vTee_eigen |
| std::vector< Eigen::Matrix4d > | wTjoints |
| std::vector< double > | vehicleVel |
| vehicle and joint | |
| std::vector< double > | jState |
| Eigen::Matrix< double, 6, ARM_DOF > | link0_Jee_man |
| Jacobians. | |
| Eigen::Matrix< double, 6, ARM_DOF > | v_Jtool_man |
| Eigen::Matrix< double, 6, TOT_DOF > | w_Jee_robot |
| Eigen::Matrix< double, 6, TOT_DOF > | w_Jtool_robot |
| Eigen::Matrix< double, 6, TOT_DOF > | w_JNoKdltool_robot |
The RobotState struct VARIABLE info about the robot (e.g. position of vehicle respect world)
1.8.11
