KDL Namespace Reference

Classes
class	ChainIkSolverPos_TL

Enumerations
enum	BasicJointType { RotJoint, TransJoint, Continuous }

Functions
IMETHOD Twist	diffRelative (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)

Enumeration Type Documentation

BasicJointType

enum KDL::BasicJointType

Enumerator
RotJoint
TransJoint
Continuous

Definition at line 46 of file kdl_tl.hpp.

Function Documentation

diffRelative()

IMETHOD Twist KDL::diffRelative	(	const Frame &	F_a_b1,
		const Frame &	F_a_b2,
		double	dt = 1
	)

determines the rotation axis necessary to rotate from frame b1 to the orientation of frame b2 and the vector necessary to translate the origin of b1 to the origin of b2, and stores the result in a Twist datastructure. The result is w.r.t. frame b1.

Parameters

F_a_b1	frame b1 expressed with respect to some frame a.
F_a_b2	frame b2 expressed with respect to some frame a.

Warning

The result is not a real Twist!

In contrast to standard KDL diff methods, the result of diffRelative is w.r.t. frame b1 instead of frame a.

Definition at line 118 of file kdl_tl.hpp.