opw_kinematics Namespace Reference

Classes
struct	Parameters

Typedefs
template<typename T >
using	Solutions = std::array< std::array< T, 6 >, 8 >
template<typename T >
using	Transform = Eigen::Transform< T, 3, Eigen::Isometry >

Functions
template<typename T >
bool	comparePoses (const Eigen::Transform< T, 3, Eigen::Isometry > &Ta, const Eigen::Transform< T, 3, Eigen::Isometry > &Tb, T tolerance)
template<typename T >
Transform< T >	forward (const Parameters< T > &p, const std::array< T, 6 > &qs) noexcept
	Computes the tool pose of the robot described by when said robot has the joint positions given by qs, a 6 element array of type T. More...
template<typename T >
void	harmonizeTowardZero (std::array< T, 6 > &qs)
template<typename T >
Solutions< T >	inverse (const Parameters< T > &params, const Transform< T > &pose) noexcept
	Computes up to 8 kinematically unique joint solutions that put the tool flange of the robot described by params at the pose given by pose. Results are stored in out, a 6x8 array of T. See out's description for more details. More...
template<typename T >
bool	isValid (const std::array< T, 6 > &qs)
template<typename T >
Parameters< T >	makeFanucR2000iB_200R ()
template<typename T >
Parameters< T >	makeIrb2400_10 ()
template<typename T >
Parameters< T >	makeIrb2600_12_165 ()
template<typename T >
Parameters< T >	makeIrb4600_60_205 ()
template<typename T >
Parameters< T >	makeKukaKR6_R700_sixx ()
template<typename T >
Parameters< T >	makeStaubliTX40 ()
template<typename T >
std::ostream &	operator<< (std::ostream &os, const Parameters< T > &params)

Typedef Documentation

Solutions

template<typename T >

using opw_kinematics::Solutions = typedef std::array<std::array<T, 6>, 8>

Typedef equivalent to std::array<std::array<double, 6>, 8> for T = double and std::array<std::array<float, 6>, 8> for T = float.

Definition at line 22 of file opw_kinematics.h.

Transform

template<typename T >

using opw_kinematics::Transform = typedef Eigen::Transform<T, 3, Eigen::Isometry>

Typedef equivalent to Eigen::Isometry3d for T = double and Eigen::Isometry3f for T = float.

Definition at line 15 of file opw_kinematics.h.

Function Documentation

comparePoses()

template<typename T >

bool opw_kinematics::comparePoses	(	const Eigen::Transform< T, 3, Eigen::Isometry > &	Ta,
		const Eigen::Transform< T, 3, Eigen::Isometry > &	Tb,
		T	tolerance
	)

Definition at line 11 of file opw_kinematics_impl.h.

forward()

template<typename T >

Transform< T > opw_kinematics::forward ( const Parameters< T > &  p, const std::array< T, 6 > &  qs  )

noexcept

Computes the tool pose of the robot described by when said robot has the joint positions given by qs, a 6 element array of type T.

Parameters

p	The robot for which you want to solve forward kinematics.
qs	The joint pose of the robot which you want to know the tool pose of.

Returns

The flange pose.

Definition at line 34 of file opw_kinematics_impl.h.

harmonizeTowardZero()

template<typename T >

void opw_kinematics::harmonizeTowardZero ( std::array< T, 6 > &  qs )

inline

Definition at line 17 of file opw_utilities.h.

inverse()

template<typename T >

Solutions< T > opw_kinematics::inverse ( const Parameters< T > &  params, const Transform< T > &  pose  )

noexcept

Computes up to 8 kinematically unique joint solutions that put the tool flange of the robot described by params at the pose given by pose. Results are stored in out, a 6x8 array of T. See out's description for more details.

Parameters

pose	The pose of the tool flange for which you want joint solutions for
params	The robot for which you want to solve.

Returns

A array of 8 to an array of 6 elements. ALL 8 SOLUTIONS ARE ALWAYS WRITTEN, EVEN IF THEY CONTAIN NANS. You must check in a subsequent call if you have a solution. The plus side is that the first solution should be from the same configuration each time.

Definition at line 113 of file opw_kinematics_impl.h.

isValid()

template<typename T >

bool opw_kinematics::isValid ( const std::array< T, 6 > &  qs )

inline

Definition at line 10 of file opw_utilities.h.

makeFanucR2000iB_200R()

template<typename T >

Parameters<T> opw_kinematics::makeFanucR2000iB_200R

(

)

Definition at line 28 of file opw_parameters_examples.h.

makeIrb2400_10()

template<typename T >

Parameters<T> opw_kinematics::makeIrb2400_10

(

)

Definition at line 10 of file opw_parameters_examples.h.

makeIrb2600_12_165()

template<typename T >

Parameters<T> opw_kinematics::makeIrb2600_12_165

(

)

Definition at line 86 of file opw_parameters_examples.h.

makeIrb4600_60_205()

template<typename T >

Parameters<T> opw_kinematics::makeIrb4600_60_205

(

)

Definition at line 105 of file opw_parameters_examples.h.

makeKukaKR6_R700_sixx()

template<typename T >

Parameters<T> opw_kinematics::makeKukaKR6_R700_sixx

(

)

Definition at line 46 of file opw_parameters_examples.h.

makeStaubliTX40()

template<typename T >

Parameters<T> opw_kinematics::makeStaubliTX40

(

)

Definition at line 67 of file opw_parameters_examples.h.

operator<<()

template<typename T >

std::ostream& opw_kinematics::operator<<	(	std::ostream &	os,
		const Parameters< T > &	params
	)

Definition at line 10 of file opw_io.h.