ROBOOP::Robot_basic Class Reference

#include <robot.h>

Inheritance diagram for ROBOOP::Robot_basic:

Detailed Description

Virtual base robot class.

Definition at line 216 of file robot.h.


Public Member Functions
	Robot_basic (const int ndof=1, const bool dh_parameter=false, const bool min_inertial_para=false)
	Constructor.
	Robot_basic (const Matrix &initrobot_motor, const bool dh_parameter=false, const bool min_inertial_para=false)
	Constructor.
	Robot_basic (const Matrix &initrobot, const Matrix &initmotor, const bool dh_parameter=false, const bool min_inertial_para=false)
	Constructor.
	Robot_basic (const Config &robData, const std::string &robotName, const bool dh_parameter=false, const bool min_inertial_para=false)
	Constructor.
	Robot_basic (const Robot_basic &x)
	Copy constructor.
virtual	~Robot_basic ()
	Destructor.
Robot_basic &	operator= (const Robot_basic &x)
	Overload = operator.
Real	get_q (const int i) const
bool	get_DH () const
	Return true if in DH notation, false otherwise.
int	get_dof () const
	Return dof.
int	get_available_dof () const
	Counts number of currently non-immobile links.
int	get_available_dof (const int endlink) const
	Counts number of currently non-immobile links up to and including endlink.
int	get_fix () const
	Return fix.
ReturnMatrix	get_q (void) const
	Return the joint position vector.
ReturnMatrix	get_qp (void) const
	Return the joint velocity vector.
ReturnMatrix	get_qpp (void) const
	Return the joint acceleration vector.
ReturnMatrix	get_available_q (void) const
	Return the joint position vector of available (non-immobile) joints.
ReturnMatrix	get_available_qp (void) const
	Return the joint velocity vector of available (non-immobile) joints.
ReturnMatrix	get_available_qpp (void) const
	Return the joint acceleration vector of available (non-immobile) joints.
ReturnMatrix	get_available_q (const int endlink) const
	Return the joint position vector of available (non-immobile) joints up to and including endlink.
ReturnMatrix	get_available_qp (const int endlink) const
	Return the joint velocity vector of available (non-immobile) joints up to and including endlink.
ReturnMatrix	get_available_qpp (const int endlink) const
	Return the joint acceleration vector of available (non-immobile) joints up to and including endlink.
void	set_q (const ColumnVector &q)
	Set the joint position vector.
void	set_q (const Matrix &q)
	Set the joint position vector.
void	set_q (const Real q, const int i)
void	set_qp (const ColumnVector &qp)
	Set the joint velocity vector.
void	set_qpp (const ColumnVector &qpp)
	Set the joint acceleration vector.
void	kine (Matrix &Rot, ColumnVector &pos) const
	Direct kinematics at end effector.
void	kine (Matrix &Rot, ColumnVector &pos, const int j) const
	Direct kinematics at end effector.
ReturnMatrix	kine (void) const
	Return the end effector direct kinematics transform matrix.
ReturnMatrix	kine (const int j) const
	Return the frame j direct kinematics transform matrix.
ReturnMatrix	kine_pd (const int ref=0) const
	Direct kinematics with velocity.
virtual void	kine_pd (Matrix &Rot, ColumnVector &pos, ColumnVector &pos_dot, const int ref) const =0
virtual void	robotType_inv_kin ()=0
virtual ReturnMatrix	inv_kin (const Matrix &Tobj, const int mj=0)
	Overload inv_kin function.
virtual ReturnMatrix	inv_kin (const Matrix &Tobj, const int mj, bool &converge)
	Numerical inverse kinematics. See inv_kin(const Matrix & Tobj, const int mj, const int endlink, bool & converge).
virtual ReturnMatrix	inv_kin (const Matrix &Tobj, const int mj, const int endlink, bool &converge)
	Numerical inverse kinematics.
virtual ReturnMatrix	inv_kin_pos (const ColumnVector &Pobj, const int mj, const int endlink, const ColumnVector &Plink, bool &converge)
	Numerical inverse kinematics.
virtual ReturnMatrix	inv_kin_orientation (const Matrix &Robj, const int mj, const int endlink, bool &converge)
	Numerical inverse kinematics.
virtual ReturnMatrix	inv_kin_rhino (const Matrix &Tobj, bool &converge)=0
virtual ReturnMatrix	inv_kin_puma (const Matrix &Tobj, bool &converge)=0
virtual ReturnMatrix	jacobian (const int ref=0) const
	Jacobian of mobile links expressed at frame ref. See jacobian(const int endlink, const int reg).
virtual ReturnMatrix	jacobian (const int endlink, const int ref) const =0
virtual ReturnMatrix	jacobian_dot (const int ref=0) const =0
ReturnMatrix	jacobian_DLS_inv (const double eps, const double lambda_max, const int ref=0) const
	Inverse Jacobian based on damped least squares inverse.
virtual void	dTdqi (Matrix &dRot, ColumnVector &dpos, const int i)
	Partial derivative of the robot position (homogeneous transf.) See dTdqi(Matrix & dRot, ColumnVector & dpos, const int i, const int endlink).
virtual ReturnMatrix	dTdqi (const int i)
	Partial derivative of the robot position (homogeneous transf.) See dTdqi(Matrix & dRot, ColumnVector & dpos, const int i, const int endlink).
virtual void	dTdqi (Matrix &dRot, ColumnVector &dpos, const int i, const int endlink)=0
virtual ReturnMatrix	dTdqi (const int i, const int endlink)=0
ReturnMatrix	acceleration (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &tau)
	Joints acceleration without contact force.
ReturnMatrix	acceleration (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &tau, const ColumnVector &Fext, const ColumnVector &Next)
	Joints acceleration.
ReturnMatrix	inertia (const ColumnVector &q)
	Inertia of the manipulator.
virtual ReturnMatrix	torque_novelocity (const ColumnVector &qpp)=0
virtual ReturnMatrix	torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp)=0
virtual ReturnMatrix	torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &Fext_, const ColumnVector &Next_)=0
virtual void	delta_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &dq, const ColumnVector &dqp, const ColumnVector &dqpp, ColumnVector &torque, ColumnVector &dtorque)=0
virtual void	dq_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp, const ColumnVector &dq, ColumnVector &torque, ColumnVector &dtorque)=0
virtual void	dqp_torque (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &dqp, ColumnVector &torque, ColumnVector &dtorque)=0
ReturnMatrix	dtau_dq (const ColumnVector &q, const ColumnVector &qp, const ColumnVector &qpp)
	Sensitivity of the dynamics with respect to .
ReturnMatrix	dtau_dqp (const ColumnVector &q, const ColumnVector &qp)
	Sensitivity of the dynamics with respect to $\dot{q}$ .
virtual ReturnMatrix	G ()=0
virtual ReturnMatrix	C (const ColumnVector &qp)=0
void	error (const std::string &msg1) const
	Print the message msg1 on the console.
void	convertFrame (Matrix &R, ColumnVector &p, int cur, int dest) const
	converts one or more column-wise vectors from frame cur to frame dest
ReturnMatrix	convertFrame (int cur, int dest) const
	Returns a matrix which can be used to convert from frame cur to frame dest The Matrix returned will be homogenous (4x4).
void	convertLinkToFrame (Matrix &R, ColumnVector &p, int cur, int dest) const
	converts vector(s) on link cur to be vector(s) in joint reference frame dest
ReturnMatrix	convertLinkToFrame (int cur, int dest) const
	Returns a matrix which can be used to convert from link frame cur to joint frame dest.
void	convertFrameToLink (Matrix &R, ColumnVector &p, int cur, int dest) const
	converts vector(s) in joint referenc frame cur to be vector(s) on link dest
ReturnMatrix	convertFrameToLink (int cur, int dest) const
	Returns a matrix which can be used to convert from joint reference frame cur to link frame dest.
void	convertLink (Matrix &R, ColumnVector &p, int cur, int dest) const
	converts vector(s) on link cur to be vector(s) on link dest
ReturnMatrix	convertLink (int cur, int dest) const
	Returns a matrix which can be used to convert from link cur to link dest.
Static Public Member Functions
static Real	limit_range (Real x, Real min, Real max)
	useful for fixing x to be at least min or at most max
static Real	limit_angle (Real x, Real min, Real max)
	useful for fixing x to be at least min or at most max; handles angles so closest boundary is picked, but assumes x is normalized (-pi,pi)
static Real	normalize_angle (Real t)
	ensures that t is in the range (-pi,pi) (upper boundary may not be inclusive...?)
static Real	homog_norm (const ColumnVector &v)
	converts a homogenous vector to a normal vector
Public Attributes
ColumnVector *	w
ColumnVector *	wp
ColumnVector *	vp
ColumnVector *	a
ColumnVector *	f
ColumnVector *	f_nv
ColumnVector *	n
ColumnVector *	n_nv
ColumnVector *	F
ColumnVector *	N
ColumnVector *	p
ColumnVector *	pp
ColumnVector *	dw
ColumnVector *	dwp
ColumnVector *	dvp
ColumnVector *	da
ColumnVector *	df
ColumnVector *	dn
ColumnVector *	dF
ColumnVector *	dN
ColumnVector *	dp
ColumnVector	z0
	Axis vector at each joint.
ColumnVector	gravity
	Gravity vector.
Matrix *	R
	Temprary rotation matrix.
Link *	links
	Pointer on Link cclass.
Private Types
enum	EnumRobotType { DEFAULT = 0, RHINO = 1, PUMA = 2, ERS_LEG, ERS2XX_HEAD, ERS7_HEAD, PANTILT, GOOSENECK, CRABARM }
	enum EnumRobotType More...
Static Private Member Functions
static ReturnMatrix	pack4x4 (const Matrix &R, const ColumnVector &p)
Private Attributes
EnumRobotType	robotType
	Robot type.
int	dof
	Degree of freedom.
int	fix
	Virtual link, used with modified DH notation.
Friends
class	Robot
class	mRobot
class	mRobot_min_para
class	Robotgl
class	mRobotgl

Member Enumeration Documentation

enum ROBOOP::Robot_basic::EnumRobotType [private]

enum EnumRobotType

Enumerator:

DEFAULT	Default robot familly.
RHINO	Rhino familly.
PUMA	Puma familly.
ERS_LEG	AIBO leg.
ERS2XX_HEAD	AIBO 200 series camera chain (210, 220).
ERS7_HEAD	AIBO 7 model camera chain.
PANTILT	PanTilt Camera.
GOOSENECK	GooseNeck.
CRABARM

Definition at line 359 of file robot.h.

Constructor & Destructor Documentation

ROBOOP::Robot_basic::Robot_basic	(	const int	ndof = `1`,
		const bool	dh_parameter = `false`,
		const bool	min_inertial_para = `false`
	)			`[explicit]`

Constructor.

Parameters:

	ndof,:	Robot degree of freedom.
	dh_parameter,:	true if DH notation, false if modified DH notation.
	min_inertial_para,:	true inertial parameter are in minimal form.

Allocate memory for vectors and matrix pointers. Initialize all the Links instance.

Definition at line 688 of file robot.cpp.

ROBOOP::Robot_basic::Robot_basic	(	const Matrix &	dhinit,
		const bool	dh_parameter = `false`,
		const bool	min_inertial_para = `false`
	)			`[explicit]`

Constructor.

Parameters:

	dhinit,:	Robot initialization matrix.
	dh_parameter,:	true if DH notation, false if modified DH notation.
	min_inertial_para,:	true inertial parameter are in minimal form.

Allocate memory for vectors and matrix pointers. Initialize all the Links instance.

Definition at line 390 of file robot.cpp.

ROBOOP::Robot_basic::Robot_basic	(	const Matrix &	initrobot,
		const Matrix &	initmotor,
		const bool	dh_parameter = `false`,
		const bool	min_inertial_para = `false`
	)			`[explicit]`

Constructor.

Parameters:

	initrobot,:	Robot initialization matrix.
	initmotor,:	Motor initialization matrix.
	dh_parameter,:	true if DH notation, false if modified DH notation.
	min_inertial_para,:	true inertial parameter are in minimal form.

Allocate memory for vectors and matrix pointers. Initialize all the Links instance.

Definition at line 552 of file robot.cpp.

ROBOOP::Robot_basic::Robot_basic	(	const Config &	robData,
		const std::string &	robotName,
		const bool	dh_parameter = `false`,
		const bool	min_inertial_para = `false`
	)			`[explicit]`

Constructor.

Parameters:

	robData,:	Robot configuration file.
	robotName,:	Basic section name of the configuration file.
	dh_parameter,:	DH notation (True) or modified DH notation.
	min_inertial_para,:	Minimum inertial parameters (True).

Initialize a new robot from a configuration file.

Definition at line 835 of file robot.cpp.

ROBOOP::Robot_basic::Robot_basic ( const Robot_basic & x )

Copy constructor.

Definition at line 766 of file robot.cpp.

ROBOOP::Robot_basic::~Robot_basic ( ) [virtual]

Destructor.

Free all vectors and matrix memory.

Definition at line 998 of file robot.cpp.

Member Function Documentation

Robot_basic & ROBOOP::Robot_basic::operator= ( const Robot_basic & x )

Overload = operator.

Definition at line 1031 of file robot.cpp.

Referenced by ROBOOP::mRobot_min_para::operator=(), ROBOOP::mRobot::operator=(), and ROBOOP::Robot::operator=().

Real ROBOOP::Robot_basic::get_q ( const int i ) const [inline]

< Return joint i position.

Definition at line 235 of file robot.h.

Referenced by ROBOOP::Clik::Clik(), ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), ROBOOP::Proportional_Derivative::torque_cmd(), ROBOOP::Computed_torque_method::torque_cmd(), and ROBOOP::Resolved_acc::torque_cmd().

bool ROBOOP::Robot_basic::get_DH ( void ) const [inline]

Return true if in DH notation, false otherwise.

Definition at line 239 of file robot.h.

int ROBOOP::Robot_basic::get_dof ( ) const [inline]

Return dof.

Definition at line 240 of file robot.h.

Referenced by ROBOOP::Computed_torque_method::Computed_torque_method(), ROBOOP::Dynamics::Dynamics(), ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), ROBOOP::ERS_Leg_DH(), ROBOOP::Goose_Neck_DH(), ROBOOP::PanTilt_DH(), ROBOOP::perturb_robot(), ROBOOP::Proportional_Derivative::Proportional_Derivative(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Resolved_acc::Resolved_acc(), ROBOOP::Rhino_DH(), ROBOOP::Rhino_mDH(), ROBOOP::Dynamics::set_dof(), and ROBOOP::Resolved_acc::torque_cmd().

int ROBOOP::Robot_basic::get_available_dof ( ) const [inline]

Counts number of currently non-immobile links.

Definition at line 241 of file robot.h.

Referenced by ROBOOP::Crab_Arm_DH(), get_available_q(), get_available_qp(), get_available_qpp(), inv_kin(), inv_kin_orientation(), inv_kin_pos(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::Robot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), ROBOOP::PanTilt_DH(), set_q(), and set_qp().

int ROBOOP::Robot_basic::get_available_dof ( const int endlink ) const

Counts number of currently non-immobile links up to and including endlink.

Definition at line 1136 of file robot.cpp.

int ROBOOP::Robot_basic::get_fix ( ) const [inline]

Return fix.

Definition at line 243 of file robot.h.

Referenced by ROBOOP::Dynamics::Dynamics(), ROBOOP::perturb_robot(), and ROBOOP::Dynamics::set_dof().

ReturnMatrix ROBOOP::Robot_basic::get_q ( void ) const

Return the joint position vector.

Definition at line 1146 of file robot.cpp.

Referenced by ROBOOP::Robot::goose_neck_angles(), ROBOOP::Robot::inv_kin_ers_pos(), ROBOOP::Robot::inv_kin_pan_tilt(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), and ROBOOP::Robot::inv_kin_rhino().

ReturnMatrix ROBOOP::Robot_basic::get_qp ( void ) const

Return the joint velocity vector.

Definition at line 1156 of file robot.cpp.

Referenced by ROBOOP::Clik::Clik(), ROBOOP::Proportional_Derivative::torque_cmd(), ROBOOP::Computed_torque_method::torque_cmd(), and ROBOOP::Resolved_acc::torque_cmd().

ReturnMatrix ROBOOP::Robot_basic::get_qpp ( void ) const

Return the joint acceleration vector.

Definition at line 1166 of file robot.cpp.

ReturnMatrix ROBOOP::Robot_basic::get_available_q ( void ) const [inline]

Return the joint position vector of available (non-immobile) joints.

Definition at line 247 of file robot.h.

Referenced by inv_kin(), inv_kin_orientation(), and inv_kin_pos().

ReturnMatrix ROBOOP::Robot_basic::get_available_qp ( void ) const [inline]

Return the joint velocity vector of available (non-immobile) joints.

Definition at line 248 of file robot.h.

ReturnMatrix ROBOOP::Robot_basic::get_available_qpp ( void ) const [inline]

Return the joint acceleration vector of available (non-immobile) joints.

Definition at line 249 of file robot.h.

ReturnMatrix ROBOOP::Robot_basic::get_available_q ( const int endlink ) const

Return the joint position vector of available (non-immobile) joints up to and including endlink.

Definition at line 1176 of file robot.cpp.

ReturnMatrix ROBOOP::Robot_basic::get_available_qp ( const int endlink ) const

Return the joint velocity vector of available (non-immobile) joints up to and including endlink.

Definition at line 1188 of file robot.cpp.

ReturnMatrix ROBOOP::Robot_basic::get_available_qpp ( const int endlink ) const

Return the joint acceleration vector of available (non-immobile) joints up to and including endlink.

Definition at line 1200 of file robot.cpp.

void ROBOOP::Robot_basic::set_q ( const ColumnVector & q )

Set the joint position vector.

Set the joint position vector and recalculate the orientation matrix R and the position vector p (see Link class). Print an error if the size of q is incorrect.

Definition at line 1279 of file robot.cpp.

Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::Clik::endeff_pos_ori_err(), ROBOOP::Robot::goose_neck_angles(), inertia(), inv_kin(), ROBOOP::Robot::inv_kin_ers_pos(), inv_kin_orientation(), ROBOOP::Robot::inv_kin_pan_tilt(), inv_kin_pos(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), ROBOOP::Robot::inv_kin_rhino(), ROBOOP::Clik::q_qdot(), ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), and ROBOOP::Robot::torque().

void ROBOOP::Robot_basic::set_q ( const Matrix & q )

Set the joint position vector.

Set the joint position vector and recalculate the orientation matrix R and the position vector p (see Link class). Print an error if the size of q is incorrect.

Definition at line 1212 of file robot.cpp.

void ROBOOP::Robot_basic::set_q	(	const Real	q,
		const int	i
	)			`[inline]`

< Set joint i position.

Definition at line 255 of file robot.h.

void ROBOOP::Robot_basic::set_qp ( const ColumnVector & qp )

Set the joint velocity vector.

Definition at line 1318 of file robot.cpp.

Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), and ROBOOP::Robot::torque().

void ROBOOP::Robot_basic::set_qpp ( const ColumnVector & qpp )

Set the joint acceleration vector.

Definition at line 1333 of file robot.cpp.

void ROBOOP::Robot_basic::kine	(	Matrix &	Rot,
		ColumnVector &	pos
	)			const

Direct kinematics at end effector.

Parameters:

	Rot,:	End effector orientation.
	pos,:	Enf effector position.

Definition at line 98 of file kinemat.cpp.

Referenced by ROBOOP::Clik::endeff_pos_ori_err(), and ROBOOP::Impedance::Impedance().

void ROBOOP::Robot_basic::kine	(	Matrix &	Rot,
		ColumnVector &	pos,
		const int	j
	)			const

Direct kinematics at end effector.

Parameters:

	Rot,:	Frame j orientation.
	pos,:	Frame j position.
	j,:	Selected frame.

Definition at line 108 of file kinemat.cpp.

ReturnMatrix ROBOOP::Robot_basic::kine ( void ) const

Return the end effector direct kinematics transform matrix.

Definition at line 131 of file kinemat.cpp.

Referenced by inv_kin(), inv_kin_orientation(), and inv_kin_pos().

ReturnMatrix ROBOOP::Robot_basic::kine ( const int j ) const

Return the frame j direct kinematics transform matrix.

Definition at line 140 of file kinemat.cpp.

ReturnMatrix ROBOOP::Robot_basic::kine_pd ( const int j = 0 ) const

Direct kinematics with velocity.

Return a $3\times 5$ matrix. The first three columns are the frame j to the base rotation, the fourth column is the frame j w.r.t to the base postion vector and the last column is the frame j w.r.t to the base translational velocity vector. Print an error on the console if j is out of range.

Definition at line 153 of file kinemat.cpp.

Referenced by ROBOOP::Resolved_acc::torque_cmd().

virtual void ROBOOP::Robot_basic::kine_pd	(	Matrix &	Rot,
		ColumnVector &	pos,
		ColumnVector &	pos_dot,
		const int	ref
	)			const `[pure virtual]`

Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.

virtual void ROBOOP::Robot_basic::robotType_inv_kin ( ) [pure virtual]

Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.

ReturnMatrix ROBOOP::Robot_basic::inv_kin	(	const Matrix &	Tobj,
		const int	mj = `0`
	)			`[virtual]`

Overload inv_kin function.

Reimplemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.

Definition at line 82 of file invkine.cpp.

Referenced by inv_kin(), ROBOOP::mRobot_min_para::inv_kin(), ROBOOP::mRobot::inv_kin(), ROBOOP::Robot::inv_kin(), and ROBOOP::Dynamics::set_robot_on_first_point_of_splines().

virtual ReturnMatrix ROBOOP::Robot_basic::inv_kin	(	const Matrix &	Tobj,
		const int	mj,
		bool &	converge
	)			`[inline, virtual]`

Numerical inverse kinematics. See inv_kin(const Matrix & Tobj, const int mj, const int endlink, bool & converge).

Reimplemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.

Definition at line 270 of file robot.h.

ReturnMatrix ROBOOP::Robot_basic::inv_kin	(	const Matrix &	Tobj,
		const int	mj,
		const int	endlink,
		bool &	converge
	)			`[virtual]`

Numerical inverse kinematics.

Parameters:

	Tobj,:	Transformation matrix expressing the desired end effector pose.
	mj,:	Select algorithm type, 0: based on Jacobian, 1: based on derivative of T.
	endlink,:	the link to pretend is the end effector
	converge,:	Indicate if the algorithm converge.

The joint position vector before the inverse kinematics is returned if the algorithm does not converge.

Reimplemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.

Definition at line 90 of file invkine.cpp.

ReturnMatrix ROBOOP::Robot_basic::inv_kin_pos	(	const ColumnVector &	Pobj,
		const int	mj,
		const int	endlink,
		const ColumnVector &	Plink,
		bool &	converge
	)			`[virtual]`

Numerical inverse kinematics.

Parameters:

	Pobj,:	Vector expressing the desired end effector position; can be homogenous
	mj,:	Select algorithm type, 0: based on Jacobian, 1: based on derivative of T.
	endlink,:	the link to pretend is the end effector
	Plink,:	ignored for now
	converge,:	Indicate if the algorithm converge.

The joint position vector before the inverse kinematics is returned if the algorithm does not converge.

Reimplemented in ROBOOP::Robot.

Definition at line 211 of file invkine.cpp.

Referenced by ROBOOP::Robot::inv_kin_pos()</

ROBOOP::Robot_basic Class Reference

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Private Types

Static Private Member Functions

Private Attributes

Friends

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation