Hey,
I have solved the forward kinematics with moveit.
kinemtic_state->setJointGroupPositions(joint_model_group, joint_values);
const Eigen::Affine3d &arm_link_5_state = kinematic_state->getGlobalLinkTransform("arm_link_5");
x = arm_link_5_state.translation().x();
y = arm_link_5_state.translation().y();
z = arm_link_5_state.translation().z();
xx = arm_link_5_state.rotation().??;
xy = arm_link_5_state.rotation().??;
xz = arm_link_5_state.rotation().??;
I don't know how to assign the value of xx, xy, xz of the rotation matrix.
I tried:
xx = arm_link_5_state.rotation().xx();
xx = arm_link_5_state.rotation().x().x();
xx = arm_link_5_state.rotation().nx();
xx = arm_link_5_state.rotation(0,0);
Error: const LinearMatrixType has no member named xx
I don't find the class where it is declared.
It would be great if someone can help me out.
Best regards,
Jonas
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