kinematic_chain.h File Reference

A header file for the class of general kinematic chain. More...

#include <iostream>
#include <iomanip>
#include <string>
#include <vector>
#include <array>
#include "link.h"
#include <Eigen/StdVector>

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Classes
struct	rb::kin::ArmPose
	A struct variable for Tool Center Point (TCP) ArmPose storages the output of forward kinematic. More...
struct	rb::kin::ArmAxisValue
	A struct variable for joints of robot arm ArmAxisValue storage the output of Inverse kinematic. More...
class	rb::kin::KinematicChain
	A kinematics class for general serial links. More...

Namespaces
	rb
	Robot Arm Library namespace.
	rb::kin
	Kinematics module namespace.

Enumerations
enum	rb::kin::IK_RESULT {   rb::kin::IK_COMPLETE, rb::kin::IK_NO_SOLUTION, rb::kin::IK_ANGLE_LIMIT, rb::kin::IK_SINGULAR,   rb::kin::IK_INPUT_INVALID }
	A set of enumeration to present the result of inverse kinematics (IK) More...

Functions
std::ostream &	rb::kin::operator<< (std::ostream &ost, const ArmPose &pose)
	Overload << operator to print position & orientation in ArmPose. More...

Detailed Description

A header file for the class of general kinematic chain.

Author

Chien-Pin Chen