fsb::ComputeKinematics Class Reference

Detailed Description

Compute forward kinematics.

#include <fsb_compute_kinematics.h>

Collaboration diagram for fsb::ComputeKinematics:

Public Member Functions
ComputeKinematicsError	initialize (const BodyTree &tree)
	Initialize the computation interface with a body tree.
void	compute_forward_kinematics_pose (const JointSpacePosition &joint_position, BodyCartesianPva &cartesian) const
	Compute forward kinematics.
void	compute_forward_kinematics (ForwardKinematicsOption opt, const JointPva &joint, BodyCartesianPva &cartesian) const
	Compute forward kinematics with optional velocity and acceleration.
void	compute_forward_kinematics_with_base (ForwardKinematicsOption opt, const JointPva &joint, const CartesianPva &base, BodyCartesianPva &cartesian) const
	Compute forward kinematics with optional velocity and acceleration.
JacobianError	compute_jacobian (size_t body_index, const BodyCartesianPva &cartesian, Jacobian &jacobian) const
	Compute Jacobian matrix for a single body in tree.
size_t	get_num_bodies () const
	Get the number of bodies in the body tree.
size_t	get_num_coordinates () const
	Get the number of coordinates (joint position vector size) in the body tree.

Member Function Documentation

get_num_bodies()

size_t fsb::ComputeKinematics::get_num_bodies ( ) const

inline

Get the number of bodies in the body tree.

Returns

Number of bodies

get_num_coordinates()

size_t fsb::ComputeKinematics::get_num_coordinates ( ) const

inline

Get the number of coordinates (joint position vector size) in the body tree.

Returns

Number of joint coordinates

---

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

• fsb-core/include/fsb_compute_kinematics.h