#include <robKinematics.h>

Inheritance diagram for robKinematics:

Public Types
enum	Convention { UNDEFINED, STANDARD_DH, MODIFIED_DH, HAYATI, MODIFIED_HAYATI }
	Kinematics convention. More...

Public Types inherited from robJoint
enum	Type { UNDEFINED, HINGE, SLIDER, UNIVERSAL, BALLSOCKET }

enum	Mode { ACTIVE, PASSIVE }
	Joint modes. More...

enum	Errno { ESUCCESS, EFAILURE }

Public Member Functions
	robKinematics (robKinematics::Convention convention)
	Default constructor. More...

	robKinematics (const robJoint &joint, robKinematics::Convention convention)
	Overloaded constructor. More...

virtual	~robKinematics ()

robKinematics::Convention	GetConvention () const
	Return the kinematics convention. More...

robKinematics::Errno	Read (std::istream &is)
	Read the kinematics parameters and joints parameters. More...

robKinematics::Errno	Write (std::ostream &os) const
	Write the kinematics parameters and joints parameters. More...

virtual vctFrame4x4< double >	ForwardKinematics (double q) const =0
	Get the position and orientation of the link. More...

virtual vctMatrixRotation3 < double >	Orientation (double q) const =0
	Get the orientation of the link. More...

virtual vctFixedSizeVector < double, 3 >	PStar () const =0
	Return the position of the next (distal) link coordinate frame. More...

virtual robKinematics *	Clone () const =0
	Kinematics objects must be able to clone themselves. More...

Public Member Functions inherited from robJoint
	robJoint ()
	Default constructor. More...

	robJoint (robJoint::Type type, robJoint::Mode mode, double offset, double min, double max, double ftmax)

robJoint::Type	GetType () const
	Return the type of the joint. More...

robJoint::Mode	GetMode () const
	Return the mode of the joint. More...

double	GetPosition () const
	Return the joint position. More...

double	GetVelocity () const
	Return the joint velocity. More...

double	GetForceTorque () const
	Return the joint force or torque. More...

void	SetPosition (double q)
	Set the joint position. More...

void	SetVelocity (double qd)
	Set the joint velocity. More...

void	SetForceTorque (double ft)
	Set the force/torque. More...

double	PositionOffset () const
	Return the offset position. More...

double	PositionMin () const
	Return the minimum position. More...

double	PositionMax () const
	Return the maximum position. More...

double	ForceTorqueMax () const
	Return the maximum force/torque. More...

Static Public Member Functions
static robKinematics *	Instantiate (const std::string &type)
	Instantiate a kinematic convention by name. More...

Protected Member Functions
virtual void	ReadParameters (std::istream &is)=0
	Read the parameters of the kinematics convention. More...

virtual void	WriteParameters (std::ostream &os) const =0
	Write the parameters of the kinematics convention. More...

Member Enumeration Documentation

enum robKinematics::Convention

Kinematics convention.

Enumerator
UNDEFINED
STANDARD_DH
MODIFIED_DH
HAYATI
MODIFIED_HAYATI

Constructor & Destructor Documentation

robKinematics::robKinematics ( robKinematics::Convention convention )

Default constructor.

robKinematics::robKinematics	(	const robJoint &	joint,
		robKinematics::Convention	convention
	)

Overloaded constructor.

virtual robKinematics::~robKinematics ( )

inlinevirtual

Member Function Documentation

virtual robKinematics* robKinematics::Clone ( ) const

pure virtual

Kinematics objects must be able to clone themselves.

Implemented in robModifiedHayati, robHayati, robDH, and robModifiedDH.

virtual vctFrame4x4<double> robKinematics::ForwardKinematics ( double q ) const

pure virtual

Get the position and orientation of the link.

Returns the position and orientation of the link with respect to the proximal link for a given joint vale.

Parameters

joint The joint associated with the link

Returns: The position and orientation associated with the DH parameters

Implemented in robModifiedHayati, robHayati, robDH, and robModifiedDH.

robKinematics::Convention robKinematics::GetConvention ( ) const

inline

Return the kinematics convention.

Returns: The DH convention: robDHStandard or robDHModified

static robKinematics* robKinematics::Instantiate ( const std::string & type )

static

Instantiate a kinematic convention by name.

virtual vctMatrixRotation3<double> robKinematics::Orientation ( double q ) const

pure virtual

Get the orientation of the link.

Returns the orientation of the link with respect to the proximal link for a given joint vale.

Parameters

joint The joint associated with the link

Returns: The orientation associated with the DH parameters

Implemented in robModifiedHayati, robHayati, robDH, and robModifiedDH.

virtual vctFixedSizeVector<double,3> robKinematics::PStar ( ) const

pure virtual

Return the position of the next (distal) link coordinate frame.

This method returns the $XYZ$ coordinates of the origin of the distal link in the coordinate frame of the proximal link. "PStar" is not a good name for this but the literature uses $ {p}^* $ to denote this value.

Returns: The position of the next coordinate frame wrt to the current frame

Implemented in robModifiedHayati, robHayati, robDH, and robModifiedDH.

robKinematics::Errno robKinematics::Read ( std::istream & is )

virtual

Read the kinematics parameters and joints parameters.

Reimplemented from robJoint.

virtual void robKinematics::ReadParameters ( std::istream & is )

protectedpure virtual

Read the parameters of the kinematics convention.

Implemented in robModifiedHayati, robHayati, robDH, and robModifiedDH.

robKinematics::Errno robKinematics::Write ( std::ostream & os ) const

virtual

Write the kinematics parameters and joints parameters.

Reimplemented from robJoint.

virtual void robKinematics::WriteParameters ( std::ostream & os ) const

protectedpure virtual

Write the parameters of the kinematics convention.

Implemented in robModifiedHayati, robHayati, robDH, and robModifiedDH.

The documentation for this class was generated from the following file:

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstRobot/robKinematics.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation