Body Tree

Rigid body tree containing geometry and mass properties of robot model. More...

Classes
struct	fsb::JointLimits
	Limits for joint vectors. More...
class	fsb::BodyTree
	Body tree description of a kinematic chain. More...

Enumerations
enum class	fsb::BodyTreeError : uint8_t {   SUCCESS = 0 , BodyTreeError::BODY_NOT_IN_TREE = 1 , BodyTreeError::JOINT_NOT_IN_TREE = 2 , BodyTreeError::MAX_BODIES_REACHED = 3 ,   BodyTreeError::PARENT_BODY_NONEXISTENT = 4 , BodyTreeError::MAX_JOINTS_REACHED = 5 , BodyTreeError::MAX_JOINT_COORDINATES_REACHED = 6 , BodyTreeError::MAX_JOINT_DOFS_REACHED = 7 ,   BodyTreeError::MASS_ZERO = 8 , BodyTreeError::INERTIA_ZERO = 9 , BodyTreeError::MASS_ZERO_WITH_INERTIA = 10 , BodyTreeError::INERTIA_NOT_POS_DEF = 11 ,   BodyTreeError::UNSUPPORTED_JOINT_TYPE = 12 }
	Error list for body tree operations. More...

Functions
Joint	fsb::BodyTree::get_joint (size_t joint_index, BodyTreeError &err) const
	Get a joint object in the body tree.
Body	fsb::BodyTree::get_body (size_t body_index, BodyTreeError &err) const
	Get body object from tree.
BodyTreeError	fsb::BodyTree::set_body_mass_props (size_t body_index, const MassProps &mass_props)
	Set the body mass properties object.
BodyTreeError	fsb::BodyTree::set_body_origin_offset (size_t body_index, const MotionVector &origin_offset)
	Set the body transform offset.
BodyTreeError	fsb::BodyTree::set_parent_joint_transform (size_t body_index, const Transform &parent_joint_transform)
	Set the parent joint transform object.

Detailed Description

Rigid body tree containing geometry and mass properties of robot model.

Enumeration Type Documentation

BodyTreeError

enum class fsb::BodyTreeError : uint8_t

strong

Error list for body tree operations.

Enumerator
BODY_NOT_IN_TREE	Index does not point to an existing body in tree.
JOINT_NOT_IN_TREE	Index does not point to an existing joint in tree.
MAX_BODIES_REACHED	No more bodies can be added to the body tree. Maximum is specified by MaxSize::bodies.
PARENT_BODY_NONEXISTENT	Parent body index does not point to an existing body in tree.
MAX_JOINTS_REACHED	No more joints can be added to the body tree. Maximum is specified by MaxSize::joints.
MAX_JOINT_COORDINATES_REACHED	Joint requires more coordinates than is available. Maximum is specified by MaxSize::coordinates.
MAX_JOINT_DOFS_REACHED	Joint requires more DoFs than is available. Maximum is specified by MaxSize::dofs.
MASS_ZERO	Body mass is zero with a non-fixed parent joint.
INERTIA_ZERO	At least one of the inertia principal components are zero with a non-fixed parent joint.
MASS_ZERO_WITH_INERTIA	Body mass is set to zero but with non-zero inertia for a fixed parent joint.
INERTIA_NOT_POS_DEF	Inertia is not positive definite.
UNSUPPORTED_JOINT_TYPE	Joint type is not supported for the operation.

Function Documentation

get_body()

Body fsb::BodyTree::get_body ( size_t  body_index, BodyTreeError &  err  ) const

inline

Get body object from tree.

Parameters

[in]	body_index	Body index
[out]	err	Error code

Returns

Body object

get_joint()

Joint fsb::BodyTree::get_joint ( size_t  joint_index, BodyTreeError &  err  ) const

inline

Get a joint object in the body tree.

Parameters

[in]	joint_index	Joint index
[out]	err	Error code

Returns

Joint object

set_body_mass_props()

BodyTreeError fsb::BodyTree::set_body_mass_props ( size_t  body_index, const MassProps &  mass_props  )

inline

Set the body mass properties object.

Parameters

body_index	Body index
mass_props	Mass properties to set

Returns

Error code

set_body_origin_offset()

BodyTreeError fsb::BodyTree::set_body_origin_offset ( size_t  body_index, const MotionVector &  origin_offset  )

inline

Set the body transform offset.

Parameters

body_index	Body index
origin_offset	Origin offset transform

Returns

Error code

set_parent_joint_transform()

BodyTreeError fsb::BodyTree::set_parent_joint_transform ( size_t  body_index, const Transform &  parent_joint_transform  )

inline

Set the parent joint transform object.

Parameters

body_index	Body index
parent_joint_transform	Nominal transform of body's parent joint

Returns

Error code