rofunc.planning_control.lqr.gluon_config

Contents

`rofunc.planning_control.lqr.gluon_config`#

1. Module Contents#

1.1. Classes#

1.2. API#

class rofunc.planning_control.lqr.gluon_config.robot_config[source]#

fkine(x)[source]#: Forward kinematics for end-effector (in robot coordinate system)

jacob(x)[source]#: Jacobian with analytical computation (for single time step) $J(x_t)= dfrac{partial{f(x_t)}}{partial{x_t}}$

fkinall(x)[source]#

error(f, f0)[source]#

Input Parameters: f = end_effector transformation matrix f0 = desired end_effector pose

Output Parameters: error = position and orientation error