All classes to support kinematic families. More...
Classes | |
| class | KDL::Chain |
| This class encapsulates a serial kinematic interconnection structure. It is built out of segments. More... | |
| class | KDL::ChainFkSolverAcc |
| This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More... | |
| class | KDL::ChainFkSolverPos |
| This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More... | |
| class | KDL::ChainFkSolverPos_recursive |
| class | KDL::ChainFkSolverVel |
| This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More... | |
| class | KDL::ChainFkSolverVel_recursive |
| class | KDL::ChainHdSolver_Vereshchagin |
| Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 1989. This class creates an instance of the hybrid dynamics solver. The solver analytically calculates the joint space constraint torques and acceleration in a chain when a constraint force(s) is applied to the chain's end-effector (task space / cartesian space). In the robotics literature, this algorithm is also known under the following names: Acceleration Constrained Hybrid Dynamics (ACHD) and Popov-Vereshchagin solver. More... | |
| class | KDL::ChainIkSolverAcc |
| This abstract class encapsulates the inverse acceleration solver for a KDL::Chain. More... | |
| class | KDL::ChainIkSolverPos |
| This abstract class encapsulates the inverse position solver for a KDL::Chain. More... | |
| class | KDL::ChainIkSolverPos_LMA |
| Solver for the inverse position kinematics that uses Levenberg-Marquardt. More... | |
| class | KDL::ChainIkSolverPos_NR |
| class | KDL::ChainIkSolverPos_NR_JL |
| class | KDL::ChainIkSolverVel |
| This abstract class encapsulates the inverse velocity solver for a KDL::Chain. More... | |
| class | KDL::ChainIkSolverVel_pinv |
| class | KDL::ChainIkSolverVel_pinv_givens |
| class | KDL::ChainIkSolverVel_pinv_nso |
| class | KDL::ChainIkSolverVel_wdls |
| class | KDL::Joint |
| This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More... | |
| class | KDL::Segment |
| This class encapsulates a simple segment, that is a "rigid
body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments. More... | |
| class | KDL::Tree |
| This class encapsulates a tree kinematic interconnection structure. It is built out of segments. More... | |
| class | KDL::TreeFkSolverPos |
| This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More... | |
| class | KDL::TreeFkSolverPos_recursive |
| class | KDL::TreeIkSolverPos |
| This abstract class encapsulates the inverse position solver for a KDL::Chain. More... | |
| class | KDL::TreeIkSolverPos_NR_JL |
| class | KDL::TreeIkSolverPos_Online |
| class | KDL::TreeIkSolverVel |
| This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More... | |
All classes to support kinematic families.
The Kinematic Families classes range from the basic building blocks (KDL::Joint and KDL::Segment) and their interconnected kinematic structures (KDL::Chain and KDL::Tree), to the solver algorithms for the kinematics and dynamics of particular kinematic families.
A kinematic family is a set of kinematic structures that have similar properties, such as the same interconnection topology, the same numerical or analytical solver algorithms, etc. Different members of the same kinematic family differ only by the concrete values of their kinematic and dynamic properties (link lengths, mass, etc.).
Each kinematic structure is built from one or more Segments (KDL::Segment). A KDL::Chain is a serial connection of these segments; a KDL:Tree is a tree-structured interconnection; and a KDL:Graph is a kinematic structure with a general graph topology. (The current implementation supports only KDL::Chain.)
A KDL::Segment contains a KDL::Joint and an offset frame ("link length", defined by a KDL::Frame), that represents the geometric pose between the KDL::Joint on the previous segment and its own KDL::Joint.
A list of all the classes is available on the modules page: Kinematic Families