No version for distro humble showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro jazzy showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro kilted showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro rolling showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro ardent showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro bouncy showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro crystal showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro eloquent showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro dashing showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro galactic showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro foxy showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro iron showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro lunar showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro jade showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro indigo showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro hydro showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kdl_coupling at Robotics Stack Exchange
No version for distro noetic showing kinetic. Known supported distros are highlighted in the buttons above.
![]() |
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
Tags | No category tags. |
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 |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Provides additionnal KDL functions or modified functions to handle coupling in joints as well as 3D IK
solutions for less than 6 DOF chains.
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.
CHANGELOG
No CHANGELOG found.
Package Dependencies
Deps | Name |
---|---|
roscpp | |
orocos_kdl | |
catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
hand_kinematics | |
sr_interface |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.