Contains all the robot specific kinematic parameters. More...
#include <kinematic_model.h>
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. | |
| int | GetNumberOfEndeffectors () const |
| 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_ |
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 48 of file kinematic_model.h.
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 58 of file kinematic_model.h.
| virtual towr::KinematicModel::~KinematicModel | ( | ) | [virtual] |
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 79 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 70 of file kinematic_model.h.
| int towr::KinematicModel::GetNumberOfEndeffectors | ( | ) | const [inline] |
- Returns:
- returns the number of endeffectors of this robot.
Definition at line 87 of file kinematic_model.h.
Member Data Documentation
Vector3d towr::KinematicModel::max_dev_from_nominal_ [protected] |
Definition at line 94 of file kinematic_model.h.
EEPos towr::KinematicModel::nominal_stance_ [protected] |
Definition at line 93 of file kinematic_model.h.
The documentation for this class was generated from the following file: