rofunc.planning_control.lqr.gluon_config#
1. Module Contents#
1.1. Classes#
1.2. API#
- class rofunc.planning_control.lqr.gluon_config.robot_config#
- fkine(x)#
Forward kinematics for end-effector (in robot coordinate system)
- jacob(x)#
Jacobian with analytical computation (for single time step) $J(x_t)= dfrac{partial{f(x_t)}}{partial{x_t}}$
- fkinall(x)#
- error(f, f0)#
Input Parameters: f = end_effector transformation matrix f0 = desired end_effector pose
Output Parameters: error = position and orientation error