Collection of utilities related to KDL and std::vector classes.
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| KDL::Frame | vectorToFrame (const std::vector< double > &x) |
| | Convert from std::vector<double> to KDL::Frame. More...
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| std::vector< double > | frameToVector (const KDL::Frame &f) |
| | Convert from KDL::Frame to std::vector<double> More...
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| KDL::Twist | vectorToTwist (const std::vector< double > &xdot) |
| | Convert from std::vector<double> to KDL::Twist. More...
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| std::vector< double > | twistToVector (const KDL::Twist &t) |
| | Convert from KDL::Twist to std::vector<double> More...
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| KDL::Wrench | vectorToWrench (const std::vector< double > &f) |
| | Convert from std::vector<double> to KDL::Wrench. More...
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| std::vector< double > | wrenchToVector (const KDL::Wrench &w) |
| | Convert from KDL::Wrench to std::vector<double> More...
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◆ frameToVector()
| std::vector< double > roboticslab::KdlVectorConverter::frameToVector |
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const KDL::Frame & |
f | ) |
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- Parameters
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| f | Input KDL::Frame object. |
- Returns
- Resulting 6-element vector describing a position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
◆ twistToVector()
| std::vector< double > roboticslab::KdlVectorConverter::twistToVector |
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const KDL::Twist & |
t | ) |
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- Parameters
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- Returns
- Resulting 6-element vector describing a velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second).
◆ vectorToFrame()
| KDL::Frame roboticslab::KdlVectorConverter::vectorToFrame |
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const std::vector< double > & |
x | ) |
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- Parameters
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| x | 6-element vector describing a position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians). |
- Returns
- Resulting KDL::Frame object.
◆ vectorToTwist()
| KDL::Twist roboticslab::KdlVectorConverter::vectorToTwist |
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const std::vector< double > & |
xdot | ) |
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- Parameters
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| xdot | 6-element vector describing a velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second). |
- Returns
- Resulting KDL::Twist object.
◆ vectorToWrench()
| KDL::Wrench roboticslab::KdlVectorConverter::vectorToWrench |
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const std::vector< double > & |
f | ) |
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- Parameters
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| xdot | 6-element vector describing a wrench in cartesian space; first three elements denote force (N), last three denote torque (Nm). |
- Returns
- Resulting KDL::Wrench object.
◆ wrenchToVector()
| std::vector< double > roboticslab::KdlVectorConverter::wrenchToVector |
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const KDL::Wrench & |
w | ) |
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- Parameters
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| t | Input KDL::Wrench object |
- Returns
- Resulting 6-element vector describing a wrench in cartesian space; first three elements denote force (N), last three denote torque (Nm).
