A class that calculates the forward kinematics of an arm. More...

#include <ForwardArmKinematics.h>

Inheritance diagram for kinematics::ForwardArmKinematics< D, N >:

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Public Member Functions
constexpr unsigned int	getNumSegments () const
	Get the number of segments in this arm.

constexpr unsigned int	getNumDimensions () const
	Get the number of dimensions of the end effector space.

virtual navtypes::Vectord< N >	getSegLens () const =0
	Get the segment lengths for this arm.

virtual bool	satisfiesConstraints (const navtypes::Vectord< N > &jointPos) const =0
	Check if the given joint configuration is valid.

virtual navtypes::Matrixd< D, N >	getJacobian (const navtypes::Vectord< N > &jointPos) const =0
	Get the jacobian matrix for the arm at the given joint angles.

virtual navtypes::Vectord< D >	jointPosToEEPos (const navtypes::Vectord< N > &jointPos) const =0
	Given a joint position, calculate the current EE position.

navtypes::Vectord< D >	jointVelToEEVel (const navtypes::Vectord< N > &jointPos, const navtypes::Vectord< N > &jointVel) const
	Calculate the EE velocity.

navtypes::Vectord< N >	eeVelToJointVel (const navtypes::Vectord< N > &jointPos, const Eigen::Vector2d &eeVel) const
	Calculates the joint velocity that yields the desired EE velocity.

Detailed Description

template<unsigned int D, unsigned int N>
class kinematics::ForwardArmKinematics< D, N >

A class that calculates the forward kinematics of an arm.

Template Parameters

D	The number of dimensions of the end effector space.
N	The number of joints in the arm.

Member Function Documentation

◆ eeVelToJointVel()

template<unsigned int D, unsigned int N>

navtypes::Vectord< N > kinematics::ForwardArmKinematics< D, N >::eeVelToJointVel	(	const navtypes::Vectord< N > &	jointPos,
		const Eigen::Vector2d &	eeVel ) const

inline

Calculates the joint velocity that yields the desired EE velocity.

Parameters

jointPos	The current joint angles.
eeVel	The desired EE velocity.

Returns: navtypes::Vectord<N> The joint velocities that yields the desired EE velocity.

◆ getJacobian()

template<unsigned int D, unsigned int N>

virtual navtypes::Matrixd< D, N > kinematics::ForwardArmKinematics< D, N >::getJacobian ( const navtypes::Vectord< N > & jointPos ) const

pure virtual

Get the jacobian matrix for the arm at the given joint angles.

Parameters

jointPos The joint angles of the arm.

Returns: navtypes::Matrixd<D, N> The jacobian matrix at the point.

See also: https://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant

Implemented in kinematics::ArmKinematics< D, N >, kinematics::ArmKinematics< 2, N >, and kinematics::PlanarArmFK< N >.

◆ getNumDimensions()

template<unsigned int D, unsigned int N>

unsigned int kinematics::ForwardArmKinematics< D, N >::getNumDimensions ( ) const

inlineconstexpr

Get the number of dimensions of the end effector space.

Returns: constexpr unsigned int The number of dimensions.

◆ getNumSegments()

template<unsigned int D, unsigned int N>

unsigned int kinematics::ForwardArmKinematics< D, N >::getNumSegments ( ) const

inlineconstexpr

Get the number of segments in this arm.

Returns: constexpr unsigned int The number of segments.

◆ getSegLens()

template<unsigned int D, unsigned int N>

virtual navtypes::Vectord< N > kinematics::ForwardArmKinematics< D, N >::getSegLens ( ) const

pure virtual

Get the segment lengths for this arm.

Returns: The vector of segment lengths

Implemented in kinematics::ArmKinematics< D, N >, kinematics::ArmKinematics< 2, N >, and kinematics::PlanarArmFK< N >.

◆ jointPosToEEPos()

template<unsigned int D, unsigned int N>

virtual navtypes::Vectord< D > kinematics::ForwardArmKinematics< D, N >::jointPosToEEPos ( const navtypes::Vectord< N > & jointPos ) const

pure virtual

Given a joint position, calculate the current EE position.

Parameters

jointPos Current joint position.

Returns: navtypes::Vectord<D> The EE position.

Implemented in kinematics::ArmKinematics< D, N >, kinematics::ArmKinematics< 2, N >, and kinematics::PlanarArmFK< N >.

◆ jointVelToEEVel()

template<unsigned int D, unsigned int N>

navtypes::Vectord< D > kinematics::ForwardArmKinematics< D, N >::jointVelToEEVel	(	const navtypes::Vectord< N > &	jointPos,
		const navtypes::Vectord< N > &	jointVel ) const

inline

Calculate the EE velocity.

Parameters

jointPos	Current joint position.
jointVel	Current velocity of each joint angle.

Returns: navtypes::Vectord<D> The EE velocity.

◆ satisfiesConstraints()

template<unsigned int D, unsigned int N>

virtual bool kinematics::ForwardArmKinematics< D, N >::satisfiesConstraints ( const navtypes::Vectord< N > & jointPos ) const

pure virtual

Check if the given joint configuration is valid.

Parameters

jointPos The joint positions to check.

Returns: true iff the joint configuration is valid, false otherwise.

Implemented in kinematics::ArmKinematics< D, N >, kinematics::ArmKinematics< 2, N >, and kinematics::PlanarArmFK< N >.

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

src/kinematics/ForwardArmKinematics.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ eeVelToJointVel()

◆ getJacobian()

◆ getNumDimensions()

◆ getNumSegments()

◆ getSegLens()

◆ jointPosToEEPos()

◆ jointVelToEEVel()

◆ satisfiesConstraints()