Class providing functions for conversion from urdf to a model described by denavit-hartenberg parameters. More...
#include <DHParam.h>
Public Types | |
| typedef urdf_traverser::EigenTransform | EigenTransform |
| typedef urdf_traverser::JointConstPtr | JointConstPtr |
| typedef urdf_traverser::LinkConstPtr | LinkConstPtr |
Public Member Functions | |
| DHParam () | |
| DHParam (const DHParam &p) | |
| DHParam & | operator= (const DHParam &p) |
Static Public Member Functions | |
| static EigenTransform | getTransform (const DHParam &p) |
| static bool | getTransforms (const std::vector< DHParam > &dh, const bool dh2urdf, std::map< std::string, EigenTransform > &transforms) |
| static bool | toDenavitHartenberg (DHParam ¶m, const Eigen::Vector3d &zi_1, const Eigen::Vector3d &xi_1, const Eigen::Vector3d &pi_1, const Eigen::Vector3d &zi, const Eigen::Vector3d &pi, Eigen::Vector3d &xi) |
Public Attributes | |
| double | alpha |
| LinkConstPtr | childLink |
| double | d |
| int | dof_index |
| JointConstPtr | joint |
| double | r |
| double | theta |
Static Private Member Functions | |
| static bool | getAlpha (const Eigen::Vector3d &zi_1, const Eigen::Vector3d &zi, const Eigen::Vector3d &pi_1, const Eigen::Vector3d &pi, const Eigen::Vector3d &xi, double &alpha) |
| static bool | getCommonNormal (const Eigen::Vector3d &zi_1, const Eigen::Vector3d &zi, const Eigen::Vector3d &pi_1, const Eigen::Vector3d &pi, Eigen::Vector3d &commonNormal, Eigen::Vector3d &nOriginOnZi_1, double &shortestDistance, bool ¶llel) |
| static bool | getDAndTheta (const Eigen::Vector3d &zi_1, const Eigen::Vector3d &xi_1, const Eigen::Vector3d &pi_1, const Eigen::Vector3d &xi, const Eigen::Vector3d &normOriginOnZi_1, double &d, double &theta) |
| static EigenTransform | getTransform (const urdf::Pose &p) |
| static EigenTransform | getTransform (const DHParam::JointConstPtr &joint) |
Friends | |
| std::ostream & | operator<< (std::ostream &o, const DHParam &p) |
Class providing functions for conversion from urdf to a model described by denavit-hartenberg parameters.
DH Parameters given in this class transform from a reference frame (i) to (i+1). The URDF joint is located at frame (i).
| urdf2graspit::DHParam::DHParam | ( | ) | [inline] |
| urdf2graspit::DHParam::DHParam | ( | const DHParam & | p | ) | [inline] |
| bool DHParam::getAlpha | ( | const Eigen::Vector3d & | zi_1, |
| const Eigen::Vector3d & | zi, | ||
| const Eigen::Vector3d & | pi_1, | ||
| const Eigen::Vector3d & | pi, | ||
| const Eigen::Vector3d & | xi, | ||
| double & | alpha | ||
| ) | [static, private] |
Calcuates DH-Paramters r and alpha between to frames i-1 and i.
| xi | the common normal between frames i-1 and i (must be normalized, so it could be re-scaled to the length between frames by multiplying with r). |
| alpha | the angle between both z-axises. |
| pi_1 | and p_i position in world coordinates of frames i-1 and i |
| zi_1 | and z_i z-axises of both frames i-1 and i |
Definition at line 323 of file DHParam.cpp.
| bool DHParam::getCommonNormal | ( | const Eigen::Vector3d & | zi_1, |
| const Eigen::Vector3d & | zi, | ||
| const Eigen::Vector3d & | pi_1, | ||
| const Eigen::Vector3d & | pi, | ||
| Eigen::Vector3d & | commonNormal, | ||
| Eigen::Vector3d & | nOriginOnZi_1, | ||
| double & | shortestDistance, | ||
| bool & | parallel | ||
| ) | [static, private] |
gets the common normal between zi_1 (through pi_1) and zi (through pi).
| nOriginOnZi_1 | returns the point on zi_1 which is shortest from zi (this is intersection point if they intersect, or pi_1 if they are parallel) |
| shortestDistance | the length of the common normal, or also the shortest distance between the lines. |
| parallel | returns true if zi_1 and zi are parallel |
Definition at line 518 of file DHParam.cpp.
| bool DHParam::getDAndTheta | ( | const Eigen::Vector3d & | zi_1, |
| const Eigen::Vector3d & | xi_1, | ||
| const Eigen::Vector3d & | pi_1, | ||
| const Eigen::Vector3d & | xi, | ||
| const Eigen::Vector3d & | normOriginOnZi_1, | ||
| double & | d, | ||
| double & | theta | ||
| ) | [static, private] |
| xi | not only new x-axis, but also common normal between frames i-1 and i. Its origin is located along zi_1 and given in normOriginOnZi_1, such that xi from there points to frame i |
Definition at line 361 of file DHParam.cpp.
| DHParam::EigenTransform DHParam::getTransform | ( | const DHParam & | p | ) | [static] |
Returns the transformation matrix for these DH parameters
Definition at line 617 of file DHParam.cpp.
| DHParam::EigenTransform DHParam::getTransform | ( | const urdf::Pose & | p | ) | [static, private] |
Definition at line 665 of file DHParam.cpp.
| DHParam::EigenTransform DHParam::getTransform | ( | const DHParam::JointConstPtr & | joint | ) | [static, private] |
Definition at line 680 of file DHParam.cpp.
| bool DHParam::getTransforms | ( | const std::vector< DHParam > & | dh, |
| const bool | dh2urdf, | ||
| std::map< std::string, EigenTransform > & | transforms | ||
| ) | [static] |
For each child link defined in the DH parameters dh the transform the transform from DH to URDF space is returned in transforms. The transform is given in the local joint space.
| transforms | for each link, the transform from DH to URDF space |
| false | if there is a consistency error |
| dh2urdf | if true, return transforms from DH to URDF. Otherwise, return it the other way round. |
Definition at line 686 of file DHParam.cpp.
| bool DHParam::toDenavitHartenberg | ( | DHParam & | param, |
| const Eigen::Vector3d & | zi_1, | ||
| const Eigen::Vector3d & | xi_1, | ||
| const Eigen::Vector3d & | pi_1, | ||
| const Eigen::Vector3d & | zi, | ||
| const Eigen::Vector3d & | pi, | ||
| Eigen::Vector3d & | xi | ||
| ) | [static] |
Computes Denavit Hartenberg parameters.
| zi_1 | z axis (rotation axis) in frame i-1 |
| xi_1 | x axis (rotation axis) in frame i-1, obtained from previous calls to this function for joints earlier in the chain or any axis for root joint. |
| pi_1 | world position (global coordinates) in frame i-1, obtained from previous calls to this function for joints earlier in the chain (when returned as parameter pi), or for the root joint this is the position of the joint as given in URDF space (global coordinates). |
| zi | z-axis of frame i. |
| pi | position of the joint in frame i. This will be the global pose of the joint in URDF space. |
| xi | the new x-axis of frame i will be returned in this paramter. |
Definition at line 422 of file DHParam.cpp.
| std::ostream& operator<< | ( | std::ostream & | o, |
| const DHParam & | p | ||
| ) | [friend] |
| double urdf2graspit::DHParam::alpha |
| double urdf2graspit::DHParam::d |
| double urdf2graspit::DHParam::r |
| double urdf2graspit::DHParam::theta |