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mdl
Kinematic.h
Go to the documentation of this file.
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//
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// Copyright (c) 2009, Markus Rickert
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of the Technische Universitaet Muenchen nor the names of
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// its contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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#ifndef _RL_MDL_KINEMATIC_H_
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#define _RL_MDL_KINEMATIC_H_
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#include <
rl/math/Matrix.h
>
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#include "
Metric.h
"
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namespace
rl
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{
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namespace
mdl
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{
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class
Kinematic
:
public
Metric
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{
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public
:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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Kinematic
();
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virtual
~Kinematic
();
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Model
*
clone
()
const
;
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bool
calculateInversePosition
(
const ::rl::math::Transform
& x, const ::std::size_t& iterations = 1000);
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void
calculateJacobian
();
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void
calculateJacobian
(::
rl::math::Matrix
&
J
);
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void
calculateJacobianDerivative
();
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void
calculateJacobianDerivative
(::
rl::math::Vector
&
Jdqd
);
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void
calculateJacobianInverse
(
const ::rl::math::Real
& lambda = 0.0f,
const
bool
& doSvd =
true
);
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void
calculateJacobianInverse
(
const ::rl::math::Matrix
& J, ::
rl::math::Matrix
&
invJ
,
const ::rl::math::Real
& lambda = 0.0f,
const
bool
& doSvd =
true
)
const
;
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::rl::math::Real
calculateManipulabilityMeasure
()
const
;
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::rl::math::Real
calculateManipulabilityMeasure
(
const ::rl::math::Matrix
& J)
const
;
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void
forwardAcceleration
();
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void
forwardPosition
();
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void
forwardVelocity
();
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const ::rl::math::Matrix
&
getJacobian
()
const
;
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const ::rl::math::Vector
&
getJacobianDerivative
()
const
;
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const ::rl::math::Matrix
&
getJacobianInverse
()
const
;
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void
inverseVelocity
(
const ::rl::math::Real
& lambda = 1);
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bool
isSingular
()
const
;
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bool
isSingular
(
const ::rl::math::Matrix
& J)
const
;
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virtual
void
update
();
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protected
:
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::rl::math::Matrix
invJ
;
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::rl::math::Matrix
J
;
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::rl::math::Vector
Jdqd
;
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private
:
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};
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}
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}
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#endif // _RL_MDL_KINEMATIC_H_
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