Kinematics.cc File Reference

  =========================================================================
    CMPack'02 Source Code Release for OPEN-R SDK v1.0
    Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
  -------------------------------------------------------------------------
    This software is distributed under the GNU General Public License,
    version 2.  If you do not have a copy of this licence, visit
    www.gnu.org, or write: Free Software Foundation, 59 Temple Place,
    Suite 330 Boston, MA 02111-1307 USA.  This program is distributed
    in the hope that it will be useful, but WITHOUT ANY WARRANTY,
    including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  -------------------------------------------------------------------------
    Additionally licensed to Sony Corporation under the following terms:

    This software is provided by the copyright holders AS IS and any
    express or implied warranties, including, but not limited to, the
    implied warranties of merchantability and fitness for a particular
    purpose are disclaimed.  In no event shall authors be liable for
    any direct, indirect, incidental, special, exemplary, or consequential
    damages (including, but not limited to, procurement of substitute
    goods or services; loss of use, data, or profits; or business
    interruption) however caused and on any theory of liability, whether
    in contract, strict liability, or tort (including negligence or
    otherwise) arising in any way out of the use of this software, even if
    advised of the possibility of such damage.
  =========================================================================

Function Documentation

void GetLegAngles	(	double *	angles,
		vector3d	target[4],
		double	body_angle,
		double	body_height
	)

Definition at line 264 of file Kinematics.cc.

void GetLegAngles	(	double *	angles,
		vector3d	target,
		int	leg
	)

Definition at line 185 of file Kinematics.cc.

double GetTrigAngle	(	double	a,
		double	b,
		double	d,
		double	mn,
		double	mx,
		bool	add
	)

Definition at line 101 of file Kinematics.cc.

References errors.

void KinClearErrors

(

)

Definition at line 91 of file Kinematics.cc.

References errors.

int KinGetErrors

(

)

Definition at line 96 of file Kinematics.cc.

References errors.


Functions
const vector3d	f_body_to_shoulder (59.50, 59.20, 0.00)
const vector3d	f_leg_shoulder_to_knee (12.80, 0.50,-64.00)
const vector3d	f_leg_knee_to_ball (-18.00, 0.00,-67.23)
const vector3d	h_body_to_shoulder (-59.50, 59.20, 0.00)
const vector3d	h_leg_shoulder_to_knee (-12.80, 0.50,-64.00)
const vector3d	h_leg_knee_to_ball (18.00, 0.00,-74.87)
void	KinClearErrors ()
int	KinGetErrors ()
double	GetTrigAngle (double a, double b, double d, double mn, double mx, bool add)
void	GetLegAngles (double *angles, vector3d target, int leg)
void	GetLegAngles (double *angles, vector3d target[4], double body_angle, double body_height)
void	GetLegAngles (double *angles, vector3d target[4], BodyPosition &bp)
void	GetLegAngles (double *angles, vector3d target, BodyPosition &bp, int leg)
void	GetLegPosition (vector3d &p, const double *ang, int leg)
void	GetBodyLocation (vector3d &ball, vector3d &toe, const double *ang, int leg)
void	GetHeadAngles (double *angles, vector3d target, double body_angle, double body_height)
vector3d	RunForwardModel (double *angles, double body_angle, double body_height, vector3d point)
void	GetHeadPosition (vector3d &location, vector3d &direction, vector3d &up, vector3d &right, double *angles, double body_angle, double body_height)
Variables
const vector3d	f_upper = f_leg_shoulder_to_knee
const vector3d	f_lower = f_leg_knee_to_ball
const vector3d	h_upper = h_leg_shoulder_to_knee
const vector3d	h_lower = h_leg_knee_to_ball
int	errors
const double	rotator_min = RAD(-117.0)
const double	rotator_max = RAD( 117.0)
const double	shoulder_min = RAD( -11.0)
const double	shoulder_max = RAD( 97.0)
const double	knee_max = RAD( 147.0)
const double	knee_min = RAD( -27.0)
const double	rotator_kmin = RAD(-90.0)
const double	rotator_kmax = RAD( 90.0)
const double	shoulder_kmin = shoulder_min
const double	shoulder_kmax = RAD( 90.0)
const double	knee_kmax = knee_max
const double	f_knee_kmin = 0.2616
const double	h_knee_kmin = 0.2316
const double	tail_min = RAD(-22)
const double	tail_max = RAD( 22)
const double	head_tilt_min = RAD(-88.5)
const double	head_tilt_max = RAD( 43.0)
const double	head_pan_min = RAD(-89.6)
const double	head_pan_max = RAD( 89.6)
const double	head_roll_min = RAD(-29.0)
const double	head_roll_max = RAD( 29.0)

Kinematics.cc File Reference

Detailed Description

Functions

Variables

Function Documentation

Variable Documentation