Joint Definitions and Kinematics

Robot joint types, transforms, and model object. More...

Classes
struct	fsb::JointSpacePosition
	Joint space position in generalized coordinates. More...
struct	fsb::JointSpace
	Joint space differential of generalized coordinates. More...
struct	fsb::JointPva
struct	fsb::Joint
	Joint definition structure. More...

Enumerations
enum class	fsb::JointType : uint8_t {   JointType::FIXED = 0 , JointType::REVOLUTE_X = 1 , JointType::REVOLUTE_Y = 2 , JointType::REVOLUTE_Z = 3 ,   JointType::PRISMATIC_X = 4 , JointType::PRISMATIC_Y = 5 , JointType::PRISMATIC_Z = 6 , JointType::SPHERICAL = 7 ,   JointType::CARTESIAN = 8 , JointType::PLANAR = 9 }
	Joint type. More...

Functions
Transform	fsb::joint_parent_child_transform (const Joint &joint, const JointSpacePosition &position)
	Get transform of child body with respect to parent body.
MotionVector	fsb::joint_parent_child_velocity (const Joint &joint, const JointSpace &velocity)
	Get the Cartesian space velocity of the child body with respect to the parent body.
MotionVector	fsb::joint_parent_child_acceleration (const Joint &joint, const JointPva &joint_pva)
	Get the Cartesian space acceleration of the child body with respect to the parent body.
CartesianPva	fsb::joint_parent_child_pva (const Joint &joint, const JointPva &joint_pva)
	Get the Cartesian space pose, velocity and acceleration of the child body with respect to the parent body.

Detailed Description

Robot joint types, transforms, and model object.

The Joint data container is used in RigidBodyTree as part of the robot model.

Enumeration Type Documentation

JointType

enum class fsb::JointType : uint8_t

strong

Joint type.

Enumerator
FIXED	Fixed joint.
REVOLUTE_X	Revolute joint about the x-axis.
REVOLUTE_Y	Revolute joint about the y-axis.
REVOLUTE_Z	Revolute joint about the z-axis.
PRISMATIC_X	Prismatic joint along x-axis.
PRISMATIC_Y	Prismatic joint along y-axis.
PRISMATIC_Z	Prismatic joint along z-axis.
SPHERICAL	Spherical joint.
CARTESIAN	6 DoF Cartesian joint
PLANAR	Planar joint in XY plane.

Function Documentation

joint_parent_child_acceleration()

MotionVector fsb::joint_parent_child_acceleration	(	const Joint &	joint,
		const JointPva &	joint_pva
	)

Get the Cartesian space acceleration of the child body with respect to the parent body.

Parameters

[in]	joint	Joint definition
[in]	joint_pva	Joint space position, velocity and acceleration

Returns

Cartesian space acceleration of the child body with respect to the parent body

joint_parent_child_pva()

CartesianPva fsb::joint_parent_child_pva	(	const Joint &	joint,
		const JointPva &	joint_pva
	)

Get the Cartesian space pose, velocity and acceleration of the child body with respect to the parent body.

Parameters

[in]	joint	Joint definition
[in]	joint_pva	Joint space position, velocity and acceleration

Returns

Cartesian space pose, velocity and acceleration of the child body with respect to the parent body

joint_parent_child_transform()

Transform fsb::joint_parent_child_transform	(	const Joint &	joint,
		const JointSpacePosition &	position
	)

Get transform of child body with respect to parent body.

Parameters

[in]	joint	Joint definition
[in]	position	Joint space position

Returns

Coordinate transform of child body with respect to parent body

joint_parent_child_velocity()

MotionVector fsb::joint_parent_child_velocity	(	const Joint &	joint,
		const JointSpace &	velocity
	)

Get the Cartesian space velocity of the child body with respect to the parent body.

Parameters

[in]	joint	Joint definition
[in]	velocity	Joint space velocity

Returns

Cartesian space velocity of the child body with respect to the parent body