Class cartesian_utils

Class Documentation

class cartesian_utils

Public Static Functions

static void computePanTiltMatrix(const Eigen::VectorXd &gaze, KDL::Frame &pan_tilt_matrix)

computePanTiltMatrix given a gaze vector computes the Homogeneous Matrix to control the YAW-PITCH angles.

The algorithm used is based on the paper: “Adaptive Predictive Gaze Control of a Redundant Humanoid

Robot Head, IROS2011”.

Parameters

  • gaze – vector [3x1]

  • pan_tilt_matrix – Homogeneous Matrix [4x4] in the same reference frame of the gaze vector

static void computeCartesianError(const Eigen::Matrix4d &T, const Eigen::Matrix4d &Td, Eigen::Vector3d &position_error, Eigen::Vector3d &orientation_error)

computeCartesianError orientation and position error

Parameters

  • T – actual pose Homogeneous Matrix [4x4]

  • Td – desired pose Homogeneous Matrix [4x4]

  • position_error – position error [3x1]

  • orientation_error – orientation error [3x1]

static void computeCartesianError(const Eigen::Affine3d &T, const Eigen::Affine3d &Td, Eigen::Vector3d &position_error, Eigen::Vector3d &orientation_error)

computeCartesianError orientation and position error

Parameters

  • T – actual pose

  • Td – desired pose

  • position_error – position error

  • orientation_error – orientation error