![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
kdl_coupling package from sr_interface reposr_error_reporter sr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | melodic-devel |
Last Updated | 2021-12-10 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
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![]() |
kdl_coupling package from sr_interface reposr_example sr_grasp hand_kinematics kdl_coupling sr_interface sr_moveit_hand_config sr_multi_description sr_box_ur10_moveit_config sr_multi_moveit_config sr_multi_moveit_test sr_robot_commander sr_robot_launch |
ROS Distro
|
Package Summary
Version | 1.3.0 |
License | GPL |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/shadow-robot/sr_interface.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-09-01 |
Dev Status | UNMAINTAINED |
Released | UNRELEASED |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Juan Antonio Corrales Ramon (UPMC)
Copyright UPMC 2012
This package contains KDL functions augmented with coupling capabilities.
It can be used in any IK module that requires coupling capable FK/IK. It is based on an URDF chain.
It should not be Shadow hand specific as the coupling coefficient can be set to anything from an outer function call
(for example hand_kinematics uses it as well as cartesian controller, setting the coupling coefficient accordingly)
Usage :
------
* Init the KDL chain
KDL::Chain_coupling from this package inherits standard KCL::Chain and so can be filled correctly by standard functions
as long as you cast KDL::Chain_coupling to KDL:Chain before. Make sure you correctly fill additionnal parts of
KDL::Chain_coupling to your needs (coupling function etc...)
look at robot_mechanism_controllers for the cartesian controller to see how to fill a KDL chain from an URDF chain
ex :
KDL::Chain_coupling kdl_chain_;
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_state->model_->robot_model_,kdl_tree);
KDL::Chain kdl_chain_base= (KDL::Chain &)kdl_chain_; //cast to parent class
kdl_tree.getChain(root_name_,tip_name,kdl_chain_base);
chain_.init(robot_state_, root_name_, tip_name); //chain_ is a pr2_mechanism chain
chain_.toKDL(kdl_chain_base);
// Initialize coupling information in KDL chain
kdl_chain_.setUpdateCouplingFunction(updateCouplingFF);
* Updating the coupling
Before each IK/FK call, you should call the update coupling function (so variable coupling is possible)
best is to create a coupling function returning an Eigen matrix
ex :
Eigen::MatrixXd updateCouplingFF(const KDL::JntArray& q)
{
Eigen::MatrixXd cm(4,3); // must be the correct size
//fill the matrix here
return cm;
}
tutorial later to come.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
Messages
Services
Plugins
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.