Functions to compute robot model kinematics.
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Functions to compute robot model kinematics.
◆ ForwardKinematicsOption
Forward kinematics options.
Enumerator |
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POSE | Calculate Cartesian pose from joint position.
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POSE_VELOCITY | Calculate Cartesian pose and velocity from joint position and velocity.
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POSE_VELOCITY_ACCELERATION | Calculate Cartesian pose, velocity and acceleration from joint position, velocity, and acceleration.
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◆ forward_kinematics()
Compute forward kinematics for all bodies in tree.
- Parameters
-
[in] | body_tree | Body tree with body and joint definitions |
[in] | joint_pva | Joint position, velocity and acceleration |
[in] | base_pva | Base pose, velocity and acceleration |
[in] | opt | Compute options |
[out] | body_cartesian | Output Cartesian pose, velocity and acceleration of all bodies |
◆ joint_add_offset()
Add offset to joint position.
- Parameters
-
[in] | body_tree | Body tree with body and joint definitions |
[in] | joint_position | Joint position |
[in] | joint_offset | Joint offset |
- Returns
- Joint position with offset added
◆ joint_difference()
Get difference between joint positions.
- Parameters
-
[in] | body_tree | Body tree with body and joint definitions |
[in] | joint_position_a | Joint position a |
[in] | joint_position_b | Joint position b |
- Returns
- Joint position difference