Robot Kinematics

Functions to compute robot model kinematics. More...

Enumerations
enum class	fsb::ForwardKinematicsOption : uint8_t { ForwardKinematicsOption::POSE = 0 , ForwardKinematicsOption::POSE_VELOCITY = 1 , ForwardKinematicsOption::POSE_VELOCITY_ACCELERATION = 2 }
	Forward kinematics options. More...

Functions
void	fsb::forward_kinematics (const BodyTree &body_tree, const JointPva &joint_pva, const CartesianPva &base_pva, ForwardKinematicsOption opt, BodyCartesianPva &body_cartesian)
	Compute forward kinematics for all bodies in tree.
JointSpacePosition	fsb::joint_add_offset (const BodyTree &body_tree, const JointSpacePosition &joint_position, const JointSpace &joint_offset)
	Add offset to joint position.
JointSpace	fsb::joint_difference (const BodyTree &body_tree, const JointSpacePosition &joint_position_a, const JointSpacePosition &joint_position_b)
	Get difference between joint positions.
void	fsb::body_com_kinematics (const BodyTree &body_tree, const BodyCartesianPva &body_cartesian, BodyCartesianPva &com_cartesian)
	Compute motion of center of mass for all bodies in tree.

Detailed Description

Functions to compute robot model kinematics.

Enumeration Type Documentation

ForwardKinematicsOption

enum class fsb::ForwardKinematicsOption : uint8_t

strong

Forward kinematics options.

Enumerator
POSE	Calculate Cartesian pose from joint position.
POSE_VELOCITY	Calculate Cartesian pose and velocity from joint position and velocity.
POSE_VELOCITY_ACCELERATION	Calculate Cartesian pose, velocity and acceleration from joint position, velocity, and acceleration.

Function Documentation

body_com_kinematics()

void fsb::body_com_kinematics	(	const BodyTree &	body_tree,
		const BodyCartesianPva &	body_cartesian,
		BodyCartesianPva &	com_cartesian
	)

Compute motion of center of mass for all bodies in tree.

Parameters

body_tree	Body tree with link definitions including center of mass
body_cartesian	Computed kinematics of bodies in tree
com_cartesian	Output motion of center of mass for all bodies in tree

forward_kinematics()

void fsb::forward_kinematics	(	const BodyTree &	body_tree,
		const JointPva &	joint_pva,
		const CartesianPva &	base_pva,
		ForwardKinematicsOption	opt,
		BodyCartesianPva &	body_cartesian
	)

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()

JointSpacePosition fsb::joint_add_offset	(	const BodyTree &	body_tree,
		const JointSpacePosition &	joint_position,
		const JointSpace &	joint_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()

JointSpace fsb::joint_difference	(	const BodyTree &	body_tree,
		const JointSpacePosition &	joint_position_a,
		const JointSpacePosition &	joint_position_b
	)

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