Obbart/universal_robots_ros_driver
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Result in 6-jointed chain

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This commit is contained in:
Felix Mauch
2019-05-06 08:47:10 +02:00
parent bab303e83c
commit 4113f3ab2a
4 changed files with 103 additions and 18 deletions
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5
include/ur_rtde_driver/calibration.h
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@@ -17,6 +17,8 @@
#include <ros/ros.h>
#include <Eigen/Dense>
#include <yaml-cpp/yaml.h>
#include <fstream>
/*!
* \brief An internal representation of a DH-parametrized link.
@@ -147,6 +149,9 @@ public:
}
std::string toXacroProperties() {return robot_parameters_corrected_.toXacroProperties();}
void writeToYaml(std::ofstream& ofstream) const;
std::vector<Eigen::Matrix4d> getSimplified() const;
Eigen::Matrix4d calcForwardKinematics(const Eigen::Matrix<double, 6, 1>& joint_values, const size_t link_nr = 6);