diff --git a/classfranky_1_1_robot_pose-members.html b/classfranky_1_1_robot_pose-members.html index 99d478a5..b6fbb0aa 100644 --- a/classfranky_1_1_robot_pose-members.html +++ b/classfranky_1_1_robot_pose-members.html @@ -78,8 +78,8 @@ changeEndEffectorFrame(const Affine &transform) constfranky::RobotPoseinline elbow_position() constfranky::RobotPoseinline end_effector_pose() constfranky::RobotPoseinline - left_transform(const Affine &transform) constfranky::RobotPoseinline - right_transform(const Affine &transform) constfranky::RobotPoseinline + leftTransform(const Affine &transform) constfranky::RobotPoseinline + rightTransform(const Affine &transform) constfranky::RobotPoseinline RobotPose()franky::RobotPose RobotPose(const RobotPose &robot_pose)franky::RobotPose RobotPose(Affine end_effector_pose, std::optional< double > elbow_position=std::nullopt)franky::RobotPose @@ -87,7 +87,7 @@ RobotPose(const Vector6d &vector_repr, std::optional< double > elbow_position=std::nullopt)franky::RobotPoseexplicit RobotPose(franka::CartesianPose franka_pose)franky::RobotPoseexplicit vector_repr() constfranky::RobotPose - with_elbow_position(const std::optional< double > elbow_position) constfranky::RobotPoseinline + withElbowPosition(const std::optional< double > elbow_position) constfranky::RobotPoseinline
diff --git a/classfranky_1_1_robot_pose.html b/classfranky_1_1_robot_pose.html index af03040d..f6e7bc05 100644 --- a/classfranky_1_1_robot_pose.html +++ b/classfranky_1_1_robot_pose.html @@ -95,14 +95,14 @@   franka::CartesianPose as_franka_pose () const   -RobotPose left_transform (const Affine &transform) const -  -RobotPose right_transform (const Affine &transform) const -  +RobotPose leftTransform (const Affine &transform) const +  +RobotPose rightTransform (const Affine &transform) const +  RobotPose changeEndEffectorFrame (const Affine &transform) const   -RobotPose with_elbow_position (const std::optional< double > elbow_position) const -  +RobotPose withElbowPosition (const std::optional< double > elbow_position) const +  Affine end_effector_pose () const   std::optional< double > elbow_position () const @@ -372,8 +372,8 @@

-

◆ left_transform()

+ +

◆ leftTransform()

@@ -382,7 +382,7 @@

- + @@ -398,8 +398,8 @@

-

◆ right_transform()

+ +

◆ rightTransform()

@@ -408,7 +408,7 @@

RobotPose franky::RobotPose::left_transform RobotPose franky::RobotPose::leftTransform ( const Affine &  transform)
 - + @@ -441,8 +441,8 @@

-

◆ with_elbow_position()

+ +

◆ withElbowPosition()

@@ -451,7 +451,7 @@

RobotPose franky::RobotPose::right_transform RobotPose franky::RobotPose::rightTransform ( const Affine &  transform)
- + diff --git a/functions_func_l.html b/functions_func_l.html index 105d7b71..b8ece8fa 100644 --- a/functions_func_l.html +++ b/functions_func_l.html @@ -66,8 +66,8 @@  

- l -

    -
  • left_transform() -: franky::RobotPose +
  • leftTransform() +: franky::RobotPose
  • length() : franky::AggregatedPath< state_dimensions > diff --git a/functions_func_r.html b/functions_func_r.html index 3d09bcc4..bd095612 100644 --- a/functions_func_r.html +++ b/functions_func_r.html @@ -104,8 +104,8 @@

    - r -

    • resetTimeUnsafe() : franky::MotionGenerator< ControlSignalType >
      • -
    • right_transform() -: franky::RobotPose +
    • rightTransform() +: franky::RobotPose
    • robot() : franky::Motion< ControlSignalType > diff --git a/functions_func_w.html b/functions_func_w.html index 7b2ee21e..bd6d809a 100644 --- a/functions_func_w.html +++ b/functions_func_w.html @@ -72,8 +72,8 @@

      - w -

      diff --git a/functions_l.html b/functions_l.html index 324383e7..e40fd798 100644 --- a/functions_l.html +++ b/functions_l.html @@ -66,8 +66,8 @@
      Here is a list of all class members with links to the classes they belong to:

      - l -

        -
      • left_transform() -: franky::RobotPose +
      • leftTransform() +: franky::RobotPose
      • length() : franky::AggregatedPath< state_dimensions > diff --git a/functions_r.html b/functions_r.html index 9a6fb3f5..562a70ab 100644 --- a/functions_r.html +++ b/functions_r.html @@ -120,8 +120,8 @@

        - r -

          : franky::CartesianImpedanceMotion::Params , franky::WaypointMotion< ControlSignalType, TargetType >::Params -
        • right_transform() -: franky::RobotPose +
        • rightTransform() +: franky::RobotPose
        • robot() : franky::Motion< ControlSignalType > diff --git a/functions_w.html b/functions_w.html index 975d38bc..b87924e4 100644 --- a/functions_w.html +++ b/functions_w.html @@ -72,8 +72,8 @@

          - w -

          diff --git a/robot__pose_8hpp_source.html b/robot__pose_8hpp_source.html index 0de9c196..8d8d92e7 100644 --- a/robot__pose_8hpp_source.html +++ b/robot__pose_8hpp_source.html @@ -103,11 +103,11 @@
          30 
          31  [[nodiscard]] franka::CartesianPose as_franka_pose() const;
          32 
          -
          33  [[nodiscard]] inline RobotPose left_transform(const Affine &transform) const {
          +
          33  [[nodiscard]] inline RobotPose leftTransform(const Affine &transform) const {
          34  return {transform * end_effector_pose_, elbow_position_};
          35  }
          36 
          -
          37  [[nodiscard]] inline RobotPose right_transform(const Affine &transform) const {
          +
          37  [[nodiscard]] inline RobotPose rightTransform(const Affine &transform) const {
          38  return {end_effector_pose_ * transform, elbow_position_};
          39  }
          40 
          @@ -115,7 +115,7 @@
          42  return {end_effector_pose_ * transform, elbow_position_};
          43  }
          44 
          -
          45  [[nodiscard]] inline RobotPose with_elbow_position(const std::optional<double> elbow_position) const {
          +
          45  [[nodiscard]] inline RobotPose withElbowPosition(const std::optional<double> elbow_position) const {
          46  return {end_effector_pose_, elbow_position};
          47  }
          48 
          @@ -133,25 +133,25 @@
          60 };
          61 
          62 inline RobotPose operator*(const RobotPose &robot_pose, const Affine &right_transform) {
          -
          63  return robot_pose.right_transform(right_transform);
          +
          63  return robot_pose.rightTransform(right_transform);
          64 }
          65 
          66 inline RobotPose operator*(const Affine &left_transform, const RobotPose &robot_pose) {
          -
          67  return robot_pose.left_transform(left_transform);
          +
          67  return robot_pose.leftTransform(left_transform);
          68 }
          69 
          70 } // namespace franky
          franky::RobotPose
          Definition: robot_pose.hpp:11
          -
          franky::RobotPose::with_elbow_position
          RobotPose with_elbow_position(const std::optional< double > elbow_position) const
          Definition: robot_pose.hpp:45
          franky::RobotPose::changeEndEffectorFrame
          RobotPose changeEndEffectorFrame(const Affine &transform) const
          Definition: robot_pose.hpp:41
          franky::RobotPose::RobotPose
          RobotPose()
          Definition: robot_pose.cpp:49
          franky::RobotPose::RobotPose
          RobotPose(const RobotPose &robot_pose)
          franky::RobotPose::elbow_position
          std::optional< double > elbow_position() const
          Definition: robot_pose.hpp:53
          franky::RobotPose::vector_repr
          Vector7d vector_repr() const
          Definition: robot_pose.cpp:32
          -
          franky::RobotPose::left_transform
          RobotPose left_transform(const Affine &transform) const
          Definition: robot_pose.hpp:33
          +
          franky::RobotPose::withElbowPosition
          RobotPose withElbowPosition(const std::optional< double > elbow_position) const
          Definition: robot_pose.hpp:45
          franky::RobotPose::as_franka_pose
          franka::CartesianPose as_franka_pose() const
          Definition: robot_pose.cpp:40
          -
          franky::RobotPose::right_transform
          RobotPose right_transform(const Affine &transform) const
          Definition: robot_pose.hpp:37
          franky::RobotPose::end_effector_pose
          Affine end_effector_pose() const
          Definition: robot_pose.hpp:49
          +
          franky::RobotPose::leftTransform
          RobotPose leftTransform(const Affine &transform) const
          Definition: robot_pose.hpp:33
          +
          franky::RobotPose::rightTransform
          RobotPose rightTransform(const Affine &transform) const
          Definition: robot_pose.hpp:37
          franky
          Definition: gripper.cpp:3
          franky::operator*
          CartesianState operator*(const Affine &transform, const CartesianState &cartesian_state)
          Definition: cartesian_state.hpp:48
          franky::Vector7d
          Eigen::Vector< double, 7 > Vector7d
          Definition: types.hpp:9
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RobotPose franky::RobotPose::with_elbow_position RobotPose franky::RobotPose::withElbowPosition ( const std::optional< double >  elbow_position)