Standalone forward kinematics computation module.
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Standalone forward kinematics computation module.
◆ ComputeKinematicsError
Interface error codes.
Enumerator |
---|
SUCCESS | No error.
|
INVALID_BODY_TREE | Body tree is invalid.
|
◆ compute_forward_kinematics()
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()
Compute forward kinematics.
- Parameters
-
[in] | joint_position | Joint position vector |
[out] | cartesian | Output list of body cartesian poses |
◆ compute_forward_kinematics_with_base()
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()
Compute Jacobian matrix for a single body in tree.
- Parameters
-
[in] | body_index | |
[in] | cartesian | |
[out] | jacobian | |
- Returns
- Jacobian error code
◆ initialize()
Initialize the computation interface with a body tree.
- Parameters
-
- Returns
- Error code