rb::kin::KinematicChain Class Reference

A kinematics class for general serial links. More...

#include <kinematic_chain.h>

Inheritance diagram for rb::kin::KinematicChain:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	KinematicChain ()
	Default Constuctor.
	KinematicChain (std::vector< std::unique_ptr< rb::kin::Link > > &links, rb::math::Matrix4 base=rb::math::Matrix4::Identity(), rb::math::Matrix4 tool=rb::math::Matrix4::Identity(), rb::math::Vector3 gravity=rb::math::Vector3(0., 0., rb::math::GRAVITY), std::string manufactor="None", std::string model="None")
	Constructor with a Links vector and other parameter.
virtual	~KinematicChain ()
	Destructor.
virtual ArmPose	forwardKin (const rb::math::VectorX &q, const bool update=true)
	Compute forward Kinematics for given angle, update each joint value, and return current current position and orientation of TCP.
virtual IK_RESULT	inverseKin (const rb::math::Matrix4 &world_tcp_tf, rb::math::VectorX &joints, ArmAxisValue &all_sols)=0
	Compute inverse kinematics for given tranformation matrix of TCP in Cartesian coordination system.
rb::math::Matrix4	homoTrans (double &A, double &alpha, double &D, const double &theta)
	Compute homogeneous transformation matrix for given link properties, and return the matrix.
bool	setTool (const ArmPose &tool_pose)
	Set the HT matrix of the offset b/w the arm flange and equipped tool or end-effector.
bool	getTool (ArmPose &tool_pose) const
	Get the HT matrix of the offset b/w the arm flange and equipped tool or end-effector.
void	setBase (const rb::math::Matrix4 &base)
	Set the Homogeneous Transformation matrix of the working base of the robot arm.
rb::math::Matrix4	getBase (void) const
	Get the HT matrix of the working base of the robot arm.
rb::math::Matrix4	getTCP (void) const
	Get the HT matrix of TCP w.r.t world coordination.
void	setDOF (void)
	Set the degree of freedom according to the property of links.
int	getDOF (void) const
	Get the degree of freedom of this kinematic chain.

Protected Attributes
std::vector< std::unique_ptr< rb::kin::Link > >	links_
	A vector of Link class.
std::vector< rb::math::Matrix4 >	frames_
int	dof_
	A integer indicates the degree of freedom.
rb::math::Matrix4	base_tf_
	HT matrix of robot base with respected to world coordination.
rb::math::Matrix4	tool_tf_
	HT matrix of TCP with respected to robot flange (last joint)
rb::math::Matrix4	world_tcp_tf_
	HT matrix of TCP with respected to world coordination.
rb::math::Vector3	gravity_
	Gravity set as a vector.
std::string	manufactor_
	the name of manufactor of the robot
std::string	model_
	the model of the robot named by its manufactor

Detailed Description

A kinematics class for general serial links.

KinematicChain implement the kinematics of general serial links

Member Function Documentation

forwardKin()

ArmPose rb::kin::KinematicChain::forwardKin ( const rb::math::VectorX &  q, const bool  update = true  )

virtual

Compute forward Kinematics for given angle, update each joint value, and return current current position and orientation of TCP.

Parameters

q	An array of joint value (degree or mm).
update	A boolean to check if update the value of joints and frames.

Returns

a structure include position and orientation of TCP.

Reimplemented in rb::kin::Artic.

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getBase()

rb::math::Matrix4 rb::kin::KinematicChain::getBase

(

void

)

const

Get the HT matrix of the working base of the robot arm.

Returns

rb::math::Matrix4

getDOF()

int rb::kin::KinematicChain::getDOF

(

void

)

const

Get the degree of freedom of this kinematic chain.

Returns

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getTCP()

rb::math::Matrix4 rb::kin::KinematicChain::getTCP

(

void

)

const

Get the HT matrix of TCP w.r.t world coordination.

Returns

getTool()

bool rb::kin::KinematicChain::getTool

(

ArmPose &

tool_pose

)

const

Get the HT matrix of the offset b/w the arm flange and equipped tool or end-effector.

Parameters

tool_pose

Returns

bool Check if setting success

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homoTrans()

rb::math::Matrix4 rb::kin::KinematicChain::homoTrans	(	double &	A,
		double &	alpha,
		double &	D,
		const double &	theta
	)

Compute homogeneous transformation matrix for given link properties, and return the matrix.

Building HT matrix A function to build homogeneous transformation matrix for each link.

Parameters

A	Given link length.
alpha	Given link twist.
D	Given link offset.
theta	Given joint angle.

Returns

Homogeneous transformation matrix of given link properties.

Matrix4

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inverseKin()

virtual IK_RESULT rb::kin::KinematicChain::inverseKin ( const rb::math::Matrix4 &  world_tcp_tf, rb::math::VectorX &  joints, ArmAxisValue &  all_sols  )

pure virtual

Compute inverse kinematics for given tranformation matrix of TCP in Cartesian coordination system.

Returns

IK_RESULT a enumerator indicates the result of inverse kinematics.

Parameters

world_tcp_tf	Transformation of tcp in world coordination.
joints	The best fittest solution.
all_sols	A data structure to store all possible solutions.

Implemented in rb::kin::Artic.

setBase()

void rb::kin::KinematicChain::setBase

(

const rb::math::Matrix4 &

base

)

Set the Homogeneous Transformation matrix of the working base of the robot arm.

Parameters

base	a Homogeneous Transformation matrix from World -> the robot base.

Returns

setDOF()

void rb::kin::KinematicChain::setDOF

(

void

)

Set the degree of freedom according to the property of links.

Returns

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setTool()

bool rb::kin::KinematicChain::setTool

(

const ArmPose &

tool_pose

)

Set the HT matrix of the offset b/w the arm flange and equipped tool or end-effector.

Parameters

tool_pose

Returns

Check if setting success

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Member Data Documentation

links_

std::vector<std::unique_ptr<rb::kin::Link> > rb::kin::KinematicChain::links_

protected

A vector of Link class.

A vector of HT matrix to the pose of each joint and TCP.

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The documentation for this class was generated from the following files:

• kinematic_chain.h
• kinematic_chain.cpp