TRR base and TRT wrist. More...

#include <Puma.h>

Inheritance diagram for rl::kin::Puma:

Public Types
enum	Arm { ARM_LEFT = -1, ARM_RIGHT = 1 }

enum	Elbow { ELBOW_ABOVE = 1, ELBOW_BELOW = -1 }

enum	Wrist { WRIST_FLIP = 1, WRIST_NONFLIP = -1 }

Public Member Functions
	Puma ()

virtual	~Puma ()

virtual Kinematics *	clone () const

Arm	getArm () const

Elbow	getElbow () const

Wrist	getWrist () const

bool	inversePosition (const ::rl::math::Transform &x, ::rl::math::Vector &q, const ::std::size_t &leaf=0, const ::rl::math::Real &delta=::std::numeric_limits< ::rl::math::Real >::infinity(), const ::rl::math::Real &epsilon=1.0e-3f, const ::std::size_t &iterations=1000)
	Calculate inverse position kinematics. More...

bool	isSingular () const
	Check if current configuration is singular. More...

void	parameters (const ::rl::math::Vector &q, Arm &arm, Elbow &elbow, Wrist &wrist) const

void	setArm (const Arm &arm)

void	setElbow (const Elbow &elbow)

void	setWrist (const Wrist &wrist)

Public Member Functions inherited from rl::kin::Kinematics
	Kinematics ()

virtual	~Kinematics ()

bool	areColliding (const ::std::size_t &i, const ::std::size_t &j) const
	See if specified bodies should be tested for collisions with each other. More...

virtual void	clip (::rl::math::Vector &q) const
	Clip specified configuration to be within joint limits. More...

virtual ::rl::math::Real	distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
	Calculate distance measure between specified configuration. More...

virtual const ::rl::math::Transform &	forwardPosition (const ::std::size_t &i=0) const
	Get forward position kinematics. More...

virtual void	forwardForce (const ::rl::math::Vector &tau, ::rl::math::Vector &f) const
	Calculate forward force kinematics. More...

virtual void	forwardVelocity (const ::rl::math::Vector &qdot, ::rl::math::Vector &xdot) const
	Calculate forward velocity kinematics. More...

::rl::math::Vector	generatePositionGaussian (const ::rl::math::Vector &rand, const ::rl::math::Vector &mean, const ::rl::math::Vector &sigma) const

::rl::math::Vector	generatePositionUniform (const ::rl::math::Vector &rand) const

::std::size_t	getBodies () const
	Get number of links. More...

::std::size_t	getDof () const
	Get number of degrees of freedom (DOF). More...

const ::rl::math::Transform &	getFrame (const ::std::size_t &i) const
	Get link frame. More...

const ::rl::math::Matrix &	getJacobian () const
	Get Jacobian. More...

const ::rl::math::Matrix &	getJacobianInverse () const
	Get Jacobian-Inverse. More...

Joint *	getJoint (const ::std::size_t &i) const

::rl::math::Real	getManipulabilityMeasure () const
	Get manipulability measure. More...

::std::string	getManufacturer () const

::rl::math::Real	getMaximum (const ::std::size_t &i) const

void	getMaximum (::rl::math::Vector &max) const

::rl::math::Real	getMinimum (const ::std::size_t &i) const

void	getMinimum (::rl::math::Vector &min) const

::std::string	getName () const

::std::size_t	getOperationalDof () const
	Get number of end effectors. More...

void	getPosition (::rl::math::Vector &q) const
	Get current joint position. More...

void	getPositionUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const

void	getSpeed (::rl::math::Vector &speed) const

void	getSpeedUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const

virtual void	interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha, ::rl::math::Vector &q) const

virtual void	inverseForce (const ::rl::math::Vector &f, ::rl::math::Vector &tau) const
	Calculate inverse force kinematics. More...

virtual ::rl::math::Real	inverseOfTransformedDistance (const ::rl::math::Real &d) const

virtual void	inverseVelocity (const ::rl::math::Vector &xdot, ::rl::math::Vector &qdot) const
	Calculate inverse velocity kinematics. More...

bool	isColliding (const ::std::size_t &i) const
	See if specified body should be tested for collisions with the environment. More...

virtual bool	isValid (const ::rl::math::Vector &q) const
	Check if specified configuration is within joint limits. More...

virtual ::rl::math::Real	maxDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const

virtual ::rl::math::Real	minDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const

virtual ::rl::math::Real	minDistanceToRectangle (const ::rl::math::Real &q, const ::rl::math::Real &min, const ::rl::math::Real &max, const ::std::size_t &cuttingDimension) const

virtual ::rl::math::Real	newDistance (const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const

void	setColliding (const ::std::size_t &i, const bool &doesCollide)
	Set if specified body should be tested for collisions with the environment. More...

void	setColliding (const ::std::size_t &i, const ::std::size_t &j, const bool &doCollide)
	Set if specified bodies should be tested for collisions with each other. More...

void	setPosition (const ::rl::math::Vector &q)
	Update current joint position. More...

virtual void	step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot, ::rl::math::Vector &q2) const

::rl::math::Transform &	tool (const ::std::size_t &i=0)

const ::rl::math::Transform &	tool (const ::std::size_t &i=0) const

virtual ::rl::math::Real	transformedDistance (const ::rl::math::Real &d) const

virtual ::rl::math::Real	transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const

virtual ::rl::math::Real	transformedDistance (const ::rl::math::Real &q1, const ::rl::math::Real &q2, const ::std::size_t &i) const

virtual void	updateFrames ()
	Update frames. More...

virtual void	updateJacobian ()
	Update Jacobian. More...

virtual void	updateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true)
	Update Jacobian-Inverse. More...

::rl::math::Transform &	world ()

const ::rl::math::Transform &	world () const

Private Member Functions
template<typename T >
T	atan2 (const T &y, const T &x) const

template<typename T >
T	cos (const T &x) const

template<typename T >
T	sin (const T &x) const

Private Attributes
Arm	arm

Elbow	elbow

Wrist	wrist

Additional Inherited Members
Static Public Member Functions inherited from rl::kin::Kinematics
static Kinematics *	create (const ::std::string &filename)

Protected Types inherited from rl::kin::Kinematics
typedef ::boost::adjacency_list< ::boost::vecS, ::boost::vecS, ::boost::bidirectionalS, ::std::shared_ptr< Frame >, ::std::shared_ptr< Transform >, ::boost::no_property, ::boost::vecS >	Tree

typedef ::boost::graph_traits< Tree >::edge_descriptor	Edge

typedef ::boost::graph_traits< Tree >::edge_iterator	EdgeIterator

typedef ::std::pair< EdgeIterator, EdgeIterator >	EdgeIteratorPair

typedef ::boost::graph_traits< Tree >::in_edge_iterator	InEdgeIterator

typedef ::std::pair< InEdgeIterator, InEdgeIterator >	InEdgeIteratorPair

typedef ::boost::graph_traits< Tree >::out_edge_iterator	OutEdgeIterator

typedef ::std::pair< OutEdgeIterator, OutEdgeIterator >	OutEdgeIteratorPair

typedef ::boost::graph_traits< Tree >::vertex_descriptor	Vertex

typedef ::boost::graph_traits< Tree >::vertex_iterator	VertexIterator

typedef ::std::pair< VertexIterator, VertexIterator >	VertexIteratorPair

Protected Member Functions inherited from rl::kin::Kinematics
void	update ()

void	update (Vertex &u)

Protected Attributes inherited from rl::kin::Kinematics
::std::vector< Element * >	elements

::std::vector< Frame * >	frames

::std::vector< Vertex >	leaves

::std::vector< Link * >	links

::rl::math::Matrix	jacobian

::rl::math::Matrix	jacobianInverse

::std::vector< Joint * >	joints

::std::string	manufacturer

::std::string	name

Vertex	root

::std::vector< Edge >	tools

::std::vector< Transform * >	transforms

Tree	tree

Detailed Description

TRR base and TRT wrist.

Member Enumeration Documentation

◆ Arm

enum rl::kin::Puma::Arm

Enumerator
ARM_LEFT
ARM_RIGHT

◆ Elbow

enum rl::kin::Puma::Elbow

Enumerator
ELBOW_ABOVE
ELBOW_BELOW

◆ Wrist

enum rl::kin::Puma::Wrist

Enumerator
WRIST_FLIP
WRIST_NONFLIP

Constructor & Destructor Documentation

◆ Puma()

rl::kin::Puma::Puma ( )

◆ ~Puma()

rl::kin::Puma::~Puma ( )

virtual

Member Function Documentation

◆ atan2()

template<typename T >

T rl::kin::Puma::atan2	(	const T &	y,
		const T &	x
	)		const

inlineprivate

◆ clone()

Kinematics * rl::kin::Puma::clone ( ) const

virtual

Reimplemented from rl::kin::Kinematics.

◆ cos()

template<typename T >

T rl::kin::Puma::cos ( const T & x ) const

inlineprivate

◆ getArm()

Puma::Arm rl::kin::Puma::getArm ( ) const

◆ getElbow()

Puma::Elbow rl::kin::Puma::getElbow ( ) const

◆ getWrist()

Puma::Wrist rl::kin::Puma::getWrist ( ) const

◆ inversePosition()

bool rl::kin::Puma::inversePosition	(	const ::rl::math::Transform &	x,
		::rl::math::Vector &	q,
		const ::std::size_t &	leaf = `0`,
		const ::rl::math::Real &	delta = `::std::numeric_limits< ::rl::math::Real>::infinity()`,
		const ::rl::math::Real &	epsilon = `1.0e-3f`,
		const ::std::size_t &	iterations = `1000`
	)

virtual

Calculate inverse position kinematics.

Reimplemented from rl::kin::Kinematics.

◆ isSingular()

bool rl::kin::Puma::isSingular ( ) const

virtual

Check if current configuration is singular.

Reimplemented from rl::kin::Kinematics.

◆ parameters()

void rl::kin::Puma::parameters	(	const ::rl::math::Vector &	q,
		Arm &	arm,
		Elbow &	elbow,
		Wrist &	wrist
	)		const

◆ setArm()

void rl::kin::Puma::setArm ( const Arm & arm )

◆ setElbow()

void rl::kin::Puma::setElbow ( const Elbow & elbow )

◆ setWrist()

void rl::kin::Puma::setWrist ( const Wrist & wrist )

◆ sin()

template<typename T >

T rl::kin::Puma::sin ( const T & x ) const

inlineprivate

Member Data Documentation

◆ arm

Arm rl::kin::Puma::arm

private

◆ elbow

Elbow rl::kin::Puma::elbow

private

◆ wrist

Wrist rl::kin::Puma::wrist

private

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

rl/kin/Puma.h
rl/kin/Puma.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Arm

◆ Elbow

◆ Wrist

Constructor & Destructor Documentation

◆ Puma()

◆ ~Puma()

Member Function Documentation

◆ atan2()

◆ clone()

◆ cos()

◆ getArm()

◆ getElbow()

◆ getWrist()

◆ inversePosition()

◆ isSingular()

◆ parameters()

◆ setArm()

◆ setElbow()

◆ setWrist()

◆ sin()

Member Data Documentation

◆ arm

◆ elbow

◆ wrist