rb::kin Namespace Reference

Kinematics module namespace. More...

Classes
struct	ArmAxisValue
	A struct variable for joints of robot arm ArmAxisValue storage the output of Inverse kinematic. More...
struct	ArmPose
	A struct variable for Tool Center Point (TCP) ArmPose storages the output of forward kinematic. More...
class	Artic
	A kinematics class for articulated (6-axis) robot arm Artic implement the kinematics of articulated (6-axis) robot arm. More...
class	KinematicChain
	A kinematics class for general serial links. More...
class	Link
	A class handle single robot link Link implement the model of single of robot link. More...

Enumerations
enum	IK_RESULT {   IK_COMPLETE , IK_NO_SOLUTION , IK_ANGLE_LIMIT , IK_SINGULAR ,   IK_INPUT_INVALID }
	A set of enumeration to present the result of inverse kinematics (IK) More...
enum	Joint { REVOLUTE , PRISMATIC }
	A set of enumeration to indicate the joint type of the robot link. More...

Functions
std::ostream &	operator<< (std::ostream &ost, const ArmPose &pose)
	Overload << operator to print position & orientation in ArmPose.
rb::math::Matrix4	operator* (Link &lhs, Link &rhs)
rb::math::Matrix4	operator* (rb::math::Matrix4 &lhs, Link &rhs)
rb::math::Matrix4 &	operator*= (rb::math::Matrix4 &lhs, Link &rhs)

Detailed Description

Kinematics module namespace.

Enumeration Type Documentation

IK_RESULT

enum rb::kin::IK_RESULT

A set of enumeration to present the result of inverse kinematics (IK)

Enumerator
IK_COMPLETE	value 0
IK_NO_SOLUTION	value 1
IK_ANGLE_LIMIT	value 2
IK_SINGULAR	value 3
IK_INPUT_INVALID	value 4

Joint

enum rb::kin::Joint

A set of enumeration to indicate the joint type of the robot link.

Enumerator
REVOLUTE	Rotated joint type.
PRISMATIC	Translated joint type.

Function Documentation

operator*() [1/2]

rb::math::Matrix4 rb::kin::operator*	(	Link &	lhs,
		Link &	rhs
	)

Parameters

lhs	A link class at left hand side.
rhs	A link class at right hand side.

Returns

A 4X4 matrix that storage chaining transformation of two links.

operator*() [2/2]

rb::math::Matrix4 rb::kin::operator*	(	rb::math::Matrix4 &	lhs,
		Link &	rhs
	)

Parameters

lhs	A 4x4 matrix at left hand side.
rhs	A link class at right hand side.

Returns

A 4X4 matrix that storage chaining transformation of two links.

operator*=()

rb::math::Matrix4 & rb::kin::operator*=	(	rb::math::Matrix4 &	lhs,
		Link &	rhs
	)

Parameters

lhs	A 4x4 matrix at left hand side.
rhs	A link class at right hand side.

Returns

A 4X4 matrix that storage chaining transformation of a 4x4 matrix and a link.

operator<<()

std::ostream & rb::kin::operator<<	(	std::ostream &	ost,
		const ArmPose &	pose
	)

Overload << operator to print position & orientation in ArmPose.

Parameters

ost	ostream object to storage string for printing out.
pose	ArmPose object that will be printed out.