kinematics::PlanarArmFK< N > Class Template Reference

Kinematics object for a sequence of arm segments in a 2d plane. More...

#include <PlanarArmFK.h>

Inheritance diagram for kinematics::PlanarArmFK< N >:

Collaboration diagram for kinematics::PlanarArmFK< N >:

Public Member Functions
	PlanarArmFK (const navtypes::Vectord< N > &segLens, const navtypes::Vectord< N > &jointMin, const navtypes::Vectord< N > &jointMax)
	Construct a new kinematics object.
navtypes::Vectord< N >	getSegLens () const override
	Get the segment lengths for this arm.
bool	satisfiesConstraints (const navtypes::Vectord< N > &jointPos) const override
	Check if the given joint configuration is valid.
navtypes::Matrixd< 2, N >	getJacobian (const navtypes::Vectord< N > &jointPos) const override
	Get the jacobian matrix for the arm at the given joint angles.
Eigen::Vector2d	jointPosToEEPos (const navtypes::Vectord< N > &jointPos) const override
	Given a joint position, calculate the current EE position.
Public Member Functions inherited from kinematics::ForwardArmKinematics< 2, N >
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.
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 N>
class kinematics::PlanarArmFK< N >

Kinematics object for a sequence of arm segments in a 2d plane.

Template Parameters

N	The number of joints.

Constructor & Destructor Documentation

PlanarArmFK()

template<unsigned int N>

kinematics::PlanarArmFK< N >::PlanarArmFK ( const navtypes::Vectord< N > & segLens, const navtypes::Vectord< N > & jointMin, const navtypes::Vectord< N > & jointMax )

inline

Construct a new kinematics object.

Parameters

segLens	The length of each arm segment.
jointMin	The minimum angle of each joint. Set to -pi for no limit.
jointMax	The maximum angle of each joint. Set to pi for no limit.

Member Function Documentation

getJacobian()

template<unsigned int N>

navtypes::Matrixd< 2, N > kinematics::PlanarArmFK< N >::getJacobian ( const navtypes::Vectord< N > & jointPos ) const

inlineoverridevirtual

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

Implements kinematics::ForwardArmKinematics< 2, N >.

getSegLens()

template<unsigned int N>

navtypes::Vectord< N > kinematics::PlanarArmFK< N >::getSegLens ( ) const

inlineoverridevirtual

Get the segment lengths for this arm.

Returns

The vector of segment lengths

Implements kinematics::ForwardArmKinematics< 2, N >.

jointPosToEEPos()

template<unsigned int N>

Eigen::Vector2d kinematics::PlanarArmFK< N >::jointPosToEEPos ( const navtypes::Vectord< N > & jointPos ) const

inlineoverridevirtual

Given a joint position, calculate the current EE position.

Parameters

jointPos

Current joint position.

Returns

navtypes::Vectord<D> The EE position.

Implements kinematics::ForwardArmKinematics< 2, N >.

satisfiesConstraints()

template<unsigned int N>

bool kinematics::PlanarArmFK< N >::satisfiesConstraints ( const navtypes::Vectord< N > & jointPos ) const

inlineoverridevirtual

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.

Implements kinematics::ForwardArmKinematics< 2, N >.

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

• src/kinematics/PlanarArmFK.h