KrisLibrary
1.0.0
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Kinematic and physical parameters of a link. More...
#include <RobotLink3D.h>
Public Types | |
enum | Type { Revolute, Prismatic } |
Public Member Functions | |
void | SetRotationJoint (const Vector3 &w) |
void | SetTranslationJoint (const Vector3 &v) |
void | GetLocalTransform (Real qi, Frame3D &T) const |
void | GetVelocity (Real qi, Real dqi, const Vector3 &p, Vector3 &vel) const |
velocity of a point (in frame 0) with respect to qi,dqi | |
void | GetAngularVelocity (Real dqi, Vector3 &omega) const |
void | GetJacobian (Real qi, const Vector3 &p, Vector3 &Jo, Vector3 &Jp) const |
Jacobian (orientation,position) of a point (in frame 0) with respect to qi. | |
void | GetOrientationJacobian (Vector3 &Jo) const |
void | GetPositionJacobian (Real qi, const Vector3 &p, Vector3 &Jp) const |
void | GetJacobian (Real qi, Frame3D &J) const |
void | GetJacobian (Real qi, const Frame3D &Tj_World, Frame3D &J) const |
void | GetWorldInertia (Matrix3 &inertiaWorld) const |
void | GetWorldCOM (Vector3 &comWorld) const |
Public Attributes | |
Type | type |
Indicates the type of joint- revolute, prismatic. | |
Vector3 | w |
The axis of rotation/translation (in local frame) | |
Real | mass |
The link mass. | |
Vector3 | com |
The center of mass (in local frame) | |
Matrix3 | inertia |
The inertia matrix (in local frame) | |
Frame3D | T0_Parent |
The initial transformation from the local to the parent frame. | |
Frame3D | T_World |
Temporary - holds the current state of local to world transformation. | |
Kinematic and physical parameters of a link.
void RobotLink3D::GetLocalTransform | ( | Real | qi, |
Frame3D & | T | ||
) | const |
links's transformation is a function of control qi say we're link i T(i->i)(qi) = R(w*qi)oT(v*qi) where R rotates about an axis, T translates T(i->pi)(qi) = T0(i->pi)*T(i->i)(qi)
References Math3D::Matrix3::setRotateX(), Math3D::Matrix3::setRotateY(), and Math3D::Matrix3::setRotateZ().
Referenced by RobotKinematics3D::UpdateFrames(), and RobotKinematics3D::UpdateSelectedFrames().