#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	Mode { ACTIVE , PASSIVE }
	Joint modes. More...
enum	Errno { ESUCCESS , EFAILURE }
typedef cmnJointType	Type

Public Member Functions
	robKinematics (robKinematics::Convention convention)
	Default constructor.
	robKinematics (const robJoint &joint, robKinematics::Convention convention)
	Overloaded constructor.
virtual	~robKinematics ()
robKinematics::Convention	GetConvention () const
	Return the kinematics convention.
robKinematics::Errno	Read (std::istream &is)
	Read the kinematics parameters and joints parameters.
robKinematics::Errno	Write (std::ostream &os) const
	Write the kinematics parameters and joints parameters.
virtual vctFrame4x4< double >	ForwardKinematics (double q) const =0
	Get the position and orientation of the link.
virtual vctMatrixRotation3< double >	Orientation (double q) const =0
	Get the orientation of the link.
virtual vctFixedSizeVector< double, 3 >	PStar () const =0
	Return the position of the next (distal) link coordinate frame.
virtual robKinematics *	Clone () const =0
	Kinematics objects must be able to clone themselves.
Public Member Functions inherited from robJoint
	robJoint ()
	Default constructor.
	robJoint (cmnJointType type, robJoint::Mode mode, double offset, double min, double max, double ftmax)
virtual	~robJoint ()
const std::string &	Name (void) const
std::string &	Name (void)
cmnJointType	GetType () const
	Return the type of the joint.
robJoint::Mode	GetMode () const
	Return the mode of the joint.
double	GetPosition () const
	Return the joint position.
double	GetVelocity () const
	Return the joint velocity.
double	GetForceTorque () const
	Return the joint force or torque.
void	SetPosition (double q)
	Set the joint position.
void	SetVelocity (double qd)
	Set the joint velocity.
void	SetForceTorque (double ft)
	Set the force/torque.
double	PositionOffset () const
	Return the offset position.
void	SetPositionOffset (const double offset)
const double &	PositionMin (void) const
	Return the minimum position.
double &	PositionMin (void)
const double &	PositionMax (void) const
	Return the maximum position.
double &	PositionMax (void)
const double &	ForceTorqueMax (void) const
	Return the maximum force/torque.
double &	ForceTorqueMax (void)

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

Protected Member Functions
virtual void	ReadParameters (std::istream &is)=0
	Read the parameters of the kinematics convention.
virtual void	WriteParameters (std::ostream &os) const =0
	Write the parameters of the kinematics convention.

Additional Inherited Members
Static Public Attributes inherited from robJoint
static const cmnJointType	UNDEFINED = CMN_JOINT_UNDEFINED
static const cmnJointType	HINGE = CMN_JOINT_REVOLUTE
static const cmnJointType	SLIDER = CMN_JOINT_PRISMATIC
static const cmnJointType	UNIVERSAL = CMN_JOINT_UNIVERSAL
static const cmnJointType	BALLSOCKET = CMN_JOINT_BALL_SOCKET

Member Enumeration Documentation

◆ Convention

enum robKinematics::Convention

Kinematics convention.

Enumerator
UNDEFINED
STANDARD_DH
MODIFIED_DH
HAYATI
MODIFIED_HAYATI

Constructor & Destructor Documentation

◆ robKinematics() [1/2]

robKinematics::robKinematics ( robKinematics::Convention convention )

Default constructor.

◆ robKinematics() [2/2]

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

Overloaded constructor.

◆ ~robKinematics()

virtual robKinematics::~robKinematics ( )

inlinevirtual

Member Function Documentation

◆ Clone()

virtual robKinematics * robKinematics::Clone ( ) const

pure virtual

Kinematics objects must be able to clone themselves.

Implemented in robDH, robHayati, robModifiedDH, and robModifiedHayati.

◆ ForwardKinematics()

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 robDH, robHayati, robModifiedDH, and robModifiedHayati.

◆ GetConvention()

robKinematics::Convention robKinematics::GetConvention ( ) const

inline

Return the kinematics convention.

Returns: The DH convention: robDHStandard or robDHModified

◆ Instantiate()

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

static

Instantiate a kinematic convention by name.

◆ Orientation()

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 robDH, robHayati, robModifiedDH, and robModifiedHayati.

◆ PStar()

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 $ \mathbf{p}^* $ to denote this value.

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

Implemented in robDH, robHayati, robModifiedDH, and robModifiedHayati.

◆ Read()

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

virtual

Read the kinematics parameters and joints parameters.

Reimplemented from robJoint.

◆ ReadParameters()

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

protectedpure virtual

Read the parameters of the kinematics convention.

Implemented in robDH, robHayati, robModifiedDH, and robModifiedHayati.

◆ Write()

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

virtual

Write the kinematics parameters and joints parameters.

Reimplemented from robJoint.

◆ WriteParameters()

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

protectedpure virtual

Write the parameters of the kinematics convention.

Implemented in robDH, robHayati, robModifiedDH, and robModifiedHayati.

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

tmp/cisst-saw/cisst/cisstRobot/robKinematics.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Enumeration Documentation

◆ Convention

Constructor & Destructor Documentation

◆ robKinematics() [1/2]

◆ robKinematics() [2/2]

◆ ~robKinematics()

Member Function Documentation

◆ Clone()

◆ ForwardKinematics()

◆ GetConvention()

◆ Instantiate()

◆ Orientation()

◆ PStar()

◆ Read()

◆ ReadParameters()

◆ Write()

◆ WriteParameters()