serial_manipulator_simulator_friendly.cpp File Reference

Implementation of SerialManipulatorSimulatorFriendly. More...

#include <marinholab/sas/core/modeling/serial_manipulator_simulator_friendly.hpp>

Namespaces
namespace	marinholab
namespace	marinholab::sas
namespace	marinholab::sas::core

Detailed Description

Implementation of SerialManipulatorSimulatorFriendly.

The implementation follows the standard dual-quaternion serial-manipulator construction: each joint contributes offset_before_(i) * actuation(q_i) * offset_after_(i), and the pose Jacobian columns are built from the joint axis transformed by the intermediate poses (see DQ_SerialManipulator in dqrobotics-cpp).