Forward Kinematics Computation

Standalone forward kinematics computation module. More...

Classes
class	fsb::ComputeKinematics
	Compute forward kinematics. More...

Enumerations
enum class	fsb::ComputeKinematicsError : uint8_t { ComputeKinematicsError::SUCCESS = 0 , ComputeKinematicsError::INVALID_BODY_TREE = 1 }
	Interface error codes. More...

Functions
ComputeKinematicsError	fsb::ComputeKinematics::initialize (const BodyTree &tree)
	Initialize the computation interface with a body tree.
void	fsb::ComputeKinematics::compute_forward_kinematics_pose (const JointSpacePosition &joint_position, BodyCartesianPva &cartesian) const
	Compute forward kinematics.
void	fsb::ComputeKinematics::compute_forward_kinematics (ForwardKinematicsOption opt, const JointPva &joint, BodyCartesianPva &cartesian) const
	Compute forward kinematics with optional velocity and acceleration.
void	fsb::ComputeKinematics::compute_forward_kinematics_with_base (ForwardKinematicsOption opt, const JointPva &joint, const CartesianPva &base, BodyCartesianPva &cartesian) const
	Compute forward kinematics with optional velocity and acceleration.
JacobianError	fsb::ComputeKinematics::compute_jacobian (size_t body_index, const BodyCartesianPva &cartesian, Jacobian &jacobian) const
	Compute Jacobian matrix for a single body in tree.

Detailed Description

Standalone forward kinematics computation module.

Enumeration Type Documentation

ComputeKinematicsError

enum class fsb::ComputeKinematicsError : uint8_t

strong

Interface error codes.

Enumerator
SUCCESS	No error.
INVALID_BODY_TREE	Body tree is invalid.

Function Documentation

compute_forward_kinematics()

void fsb::ComputeKinematics::compute_forward_kinematics ( ForwardKinematicsOption  opt, const JointPva &  joint, BodyCartesianPva &  cartesian  ) const

inline

Compute forward kinematics with optional velocity and acceleration.

Parameters

[in]	opt	Pose, velocity or acceleration selection
[in]	joint	Joint position, velocity and acceleration
[out]	cartesian	Output Cartesian pose, velocity and acceleration of all bodies

compute_forward_kinematics_pose()

void fsb::ComputeKinematics::compute_forward_kinematics_pose ( const JointSpacePosition &  joint_position, BodyCartesianPva &  cartesian  ) const

inline

Compute forward kinematics.

Parameters

[in]	joint_position	Joint position vector
[out]	cartesian	Output list of body cartesian poses

compute_forward_kinematics_with_base()

void fsb::ComputeKinematics::compute_forward_kinematics_with_base ( ForwardKinematicsOption  opt, const JointPva &  joint, const CartesianPva &  base, BodyCartesianPva &  cartesian  ) const

inline

Compute forward kinematics with optional velocity and acceleration.

Parameters

[in]	opt	Pose, velocity or acceleration selection
[in]	joint	Joint position, velocity and acceleration
[in]	base	Base pose, velocity and acceleration
[out]	cartesian	Output Cartesian pose, velocity and acceleration of all bodies

compute_jacobian()

JacobianError fsb::ComputeKinematics::compute_jacobian ( size_t  body_index, const BodyCartesianPva &  cartesian, Jacobian &  jacobian  ) const

inline

Compute Jacobian matrix for a single body in tree.

Parameters

[in]	body_index
[in]	cartesian
[out]	jacobian

Returns

Jacobian error code

initialize()

ComputeKinematicsError fsb::ComputeKinematics::initialize ( const BodyTree &  tree )

inline

Initialize the computation interface with a body tree.

Parameters

[in]

tree

Body tree

Returns

Error code