roboticslab::MatrixExponential Class Reference

Abstraction of a term in a product of exponentials (POE) formula. More...

#include <MatrixExponential.hpp>

Public Types
enum	motion { ROTATION , TRANSLATION }
	Lists available screw motion types. More...

Public Member Functions
	MatrixExponential (motion motionType, const KDL::Vector &axis, const KDL::Vector &origin=KDL::Vector::Zero())
	Constructor. More...
KDL::Frame	asFrame (double theta) const
	Evaluates this term for the given magnitude of the screw. More...
motion	getMotionType () const
	Retrieves the motion type of this screw. More...
const KDL::Vector &	getAxis () const
	Screw axis. More...
const KDL::Vector &	getOrigin () const
	A point along the screw axis. More...
void	changeBase (const KDL::Frame &H_new_old)
	Refers the internal coordinates of this screw to a different base. More...
MatrixExponential	cloneWithBase (const KDL::Frame &H_new_old) const
	Clones this instance and refers the internal coordinates of the screw to a different base. More...

Private Attributes
motion	motionType
KDL::Vector	axis
KDL::Vector	origin

Detailed Description

See also

PoeExpression

Member Enumeration Documentation

motion

enum roboticslab::MatrixExponential::motion

Enumerator
ROTATION	Revolute joint (zero-pitch twist).
TRANSLATION	Prismatic joint (infinite-pitch twist).

Constructor & Destructor Documentation

MatrixExponential()

MatrixExponential::MatrixExponential	(	motion	motionType,
		const KDL::Vector &	axis,
		const KDL::Vector &	origin = KDL::Vector::Zero()
	)

Parameters

motionType	Screw motion type as defined in motion.
axis	Screw axis.
origin	A point along the screw axis (defaults to (0, 0, 0), ignored in prismatic joints).

Member Function Documentation

asFrame()

KDL::Frame MatrixExponential::asFrame

(

double

theta

)

const

Parameters

theta

Input magnitude this screw should be computed at.

Returns

Resulting homogeneous transformation matrix.

changeBase()

void MatrixExponential::changeBase

(

const KDL::Frame &

H_new_old

)

Parameters

H_new_old

Transformation between the new and the old base frame.

See also

cloneWithBase

cloneWithBase()

MatrixExponential MatrixExponential::cloneWithBase

(

const KDL::Frame &

H_new_old

)

const

Parameters

H_new_old

Transformation between the new and the old base frame.

Returns

An instance referred to the new frame.

See also

changeBase

getAxis()

const KDL::Vector& roboticslab::MatrixExponential::getAxis ( ) const

inline

Returns

A vector representing the direction of the screw axis.

getMotionType()

motion roboticslab::MatrixExponential::getMotionType ( ) const

inline

Returns

A motion type this term has been registered with.

getOrigin()

const KDL::Vector& roboticslab::MatrixExponential::getOrigin ( ) const

inline

Returns

A vector representing the position of some point along the screw axis.

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

• libraries/ScrewTheoryLib/MatrixExponential.hpp
• libraries/ScrewTheoryLib/MatrixExponential.cpp