towr::KinematicModel Class Reference

Contains all the robot specific kinematic parameters. More...

#include <kinematic_model.h>

List of all members.

Public Member Functions
virtual Vector3d	GetMaximumDeviationFromNominal () const
	How far each foot can deviate from its nominal position.
virtual EEPos	GetNominalStanceInBase () const
	The xyz-position [m] of each foot in default stance.
	KinematicModel (int n_ee)
	Constructs a kinematic model of a robot with zero range of motion.
virtual	~KinematicModel ()
Protected Attributes
Vector3d	max_dev_from_nominal_
EEPos	nominal_stance_

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Detailed Description

Contains all the robot specific kinematic parameters.

This class is mainly used to formulate the RangeOfMotionConstraint, restricting each endeffector to stay inside it's kinematic range.

Definition at line 46 of file kinematic_model.h.

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Constructor & Destructor Documentation

towr::KinematicModel::KinematicModel

(

int

n_ee

)

[inline]

Constructs a kinematic model of a robot with zero range of motion.

Parameters:

n_ee	The number of endeffectors of the robot.

Definition at line 56 of file kinematic_model.h.

virtual towr::KinematicModel::~KinematicModel

(

)

[virtual]

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Member Function Documentation

virtual Vector3d towr::KinematicModel::GetMaximumDeviationFromNominal

(

)

const [inline, virtual]

How far each foot can deviate from its nominal position.

Returns:

The deviation [m] expresed in the base frame.

Definition at line 77 of file kinematic_model.h.

virtual EEPos towr::KinematicModel::GetNominalStanceInBase

(

)

const [inline, virtual]

The xyz-position [m] of each foot in default stance.

Returns:

The vector from base to each foot expressed in the base frame.

Definition at line 68 of file kinematic_model.h.

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Member Data Documentation

Vector3d towr::KinematicModel::max_dev_from_nominal_ [protected]

Definition at line 84 of file kinematic_model.h.

EEPos towr::KinematicModel::nominal_stance_ [protected]

Definition at line 83 of file kinematic_model.h.

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The documentation for this class was generated from the following file:

• kinematic_model.h