fsb_kinematics.h

 
#ifndef FSB_KINEMATICS_H
#define FSB_KINEMATICS_H
 
#include <cstdint>
#include "fsb_body.h"
#include "fsb_body_tree.h"
#include "fsb_joint.h"
#include "fsb_motion.h"
 
namespace fsb
{
 
enum class ForwardKinematicsOption: uint8_t
{
    POSE = 0,
    POSE_VELOCITY = 1,
    POSE_VELOCITY_ACCELERATION = 2
};
 
void forward_kinematics(
    const BodyTree& body_tree, const JointPva& joint_pva, const CartesianPva& base_pva,
    ForwardKinematicsOption opt, BodyCartesianPva& body_cartesian);
 
JointSpacePosition joint_add_offset(
    const BodyTree& body_tree, const JointSpacePosition& joint_position, const JointSpace& joint_offset);
 
JointSpace joint_difference(
    const BodyTree& body_tree, const JointSpacePosition& joint_position_a, const JointSpacePosition& joint_position_b);
 
void body_com_kinematics(
    const BodyTree& body_tree, const BodyCartesianPva& body_cartesian,
    BodyCartesianPva& com_cartesian);
 
} // namespace fsb
 
#endif