Drake
drake::multibody::benchmarks::kuka_iiwa_robot Namespace Reference

Namespaces

 MG
 

Classes

class  DrakeKukaIIwaRobot
 This class is a MultibodyTree model for a 7-DOF Kuka iiwa robot arm. More...
 

Functions

Eigen::Isometry3d MakeIsometry3d (const Eigen::Matrix3d &R_AB, const Eigen::Vector3d &p_AoBo_A)
 Utility method for creating a transform from frame A to frame B. More...
 

Function Documentation

Eigen::Isometry3d drake::multibody::benchmarks::kuka_iiwa_robot::MakeIsometry3d ( const Eigen::Matrix3d &  R_AB,
const Eigen::Vector3d &  p_AoBo_A 
)

Utility method for creating a transform from frame A to frame B.

Parameters
[in]R_ABRotation matrix relating Ax, Ay, Az to Bx, By, Bz.
[in]p_AoBo_APosition vector from Ao to Bo, expressed in A.
Return values
X_ABTranform relating frame A to frame B.

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