Module franka::utils [−][src]
contains useful type definitions and conversion functions.
Structs
| MotionGenerator | An example showing how to generate a joint pose motion to a goal position. Adapted from: Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots (Kogan Page Science Paper edition). |
Functions
| array_to_isometry | converts a 4x4 column-major homogenous matrix to an Isometry |
Type Definitions
| Matrix6x7 | A Matrix with 6 rows and 7 columns |
| Matrix7 | A Matrix with 7 rows and 7 columns |
| Vector7 | A Vector with 7 entries |