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KrisLibrary
1.0.0
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Go to the source code of this file.
Functions | |
| AngleInterval | AngleBracket_1D_Disk (Real p, Real c, Real r) |
| AngleInterval | AngleBracket_2D_Disk (const Vector2 &p, const Vector2 &c, Real r) |
| Full 2D version. | |
| AngleInterval | AngleBracket_3D_Ball (const Vector3 &p, const Vector3 &c, Real r) |
| AngleInterval | AngleBracket_3D_Ball (const Vector3 &p, const Vector3 &w, const Vector3 &c, Real r) |
| same as above, but axis w is arbitrary | |
| AngleInterval | AngleBracket_3D_Ball (const Vector3 &p, int axis, const Vector3 &c, Real r) |
| same as above, but axis can be x,y,or z axis (x=0,y=1,z=2) | |
The angle bracket of a joint (centered at the origin) is the range of angles that can bring the local point p into the given geometrical object (often, the workspace of the rest of the kinematic chain used in RLG).
The format of these functions is AngleBracket_[n]D_[obj] where n is the dimension, and obj is the object. The arguments are (p, {object params}). Return value is the interval of valid angles. (inf,theta) is returned if no valid angles, theta is closest possible angle
1.8.11