Classes
Kinematic Families

All classes to support kinematic families. More...

Classes

class  KDL::Chain
 This class encapsulates a serial kinematic interconnection structure. It is build 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::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 build 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...

Detailed Description

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, KDL::Tree and KDL::Graph), 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: KinFam



orocos_kdl
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autogenerated on Wed Oct 18 2017 02:59:40