Public Types | Public Member Functions | Protected Attributes | List of all members
towr::KinematicModel Class Reference

Contains all the robot specific kinematic parameters. More...

#include <kinematic_model.h>

Inheritance diagram for towr::KinematicModel:
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Public Types

using EEPos = std::vector< Eigen::Vector3d >
 
using Ptr = std::shared_ptr< KinematicModel >
 
using Vector3d = Eigen::Vector3d
 

Public Member Functions

virtual Vector3d GetMaximumDeviationFromNominal () const
 How far each foot can deviate from its nominal position. More...
 
virtual EEPos GetNominalStanceInBase () const
 The xyz-position [m] of each foot in default stance. More...
 
int GetNumberOfEndeffectors () const
 
 KinematicModel (int n_ee)
 Constructs a kinematic model of a robot with zero range of motion. More...
 
virtual ~KinematicModel ()=default
 

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.

Member Typedef Documentation

using towr::KinematicModel::EEPos = std::vector<Eigen::Vector3d>

Definition at line 51 of file kinematic_model.h.

using towr::KinematicModel::Ptr = std::shared_ptr<KinematicModel>

Definition at line 50 of file kinematic_model.h.

using towr::KinematicModel::Vector3d = Eigen::Vector3d

Definition at line 52 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_eeThe number of endeffectors of the robot.

Definition at line 58 of file kinematic_model.h.

virtual towr::KinematicModel::~KinematicModel ( )
virtualdefault

Member Function Documentation

virtual Vector3d towr::KinematicModel::GetMaximumDeviationFromNominal ( ) const
inlinevirtual

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
inlinevirtual

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:


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16