roboticslab::PoeExpression Class Reference

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

#include <ProductOfExponentials.hpp>

Public Member Functions
	PoeExpression (const KDL::Frame &H_S_T=KDL::Frame::Identity())
	Constructor. More...
void	append (const MatrixExponential &exp, const KDL::Frame &H_new_old=KDL::Frame::Identity())
	Appends a new term to this POE formula. More...
void	append (const PoeExpression &poe, const KDL::Frame &H_new_old=KDL::Frame::Identity())
	Appends a POE to this formula. More...
const KDL::Frame &	getTransform () const
	Retrieves the transformation between base and tool frames. More...
int	size () const
	Size of this POE. More...
const MatrixExponential &	exponentialAtJoint (int i) const
	Retrieves a term of the POE formula. More...
void	changeBaseFrame (const KDL::Frame &H_new_old)
	Refers the internal coordinates of this POE to a different base. More...
void	changeToolFrame (const KDL::Frame &H_new_old)
	Updates the tool frame. More...
bool	evaluate (const KDL::JntArray &q, KDL::Frame &H) const
	Performs forward kinematics. More...
void	reverseSelf ()
	Inverts this POE formula. More...
PoeExpression	makeReverse () const
	Creates a new POE entity from the inverse of this POE formula. More...
KDL::Chain	toChain () const
	Makes a KDL::Chain from this instance. More...

Static Public Member Functions
static PoeExpression	fromChain (const KDL::Chain &chain)
	Builds a PoeExpression from a KDL::Chain. More...

Private Attributes
std::vector< MatrixExponential >	exps
KDL::Frame	H_S_T

Detailed Description

This entity is comprised of a sequence of matrix exponentials and a transformation between the base and the tool frame.

See also

MatrixExponential

Constructor & Destructor Documentation

PoeExpression()

roboticslab::PoeExpression::PoeExpression ( const KDL::Frame &  H_S_T = KDL::Frame::Identity() )

inlineexplicit

Parameters

H_S_T

Transformation between the base and the tool frame.

Member Function Documentation

append() [1/2]

void roboticslab::PoeExpression::append ( const MatrixExponential &  exp, const KDL::Frame &  H_new_old = KDL::Frame::Identity()  )

inline

All internal coordinates of the input POE term are referred to the current base frame after applying an (optional) intermediate transformation.

Parameters

exp	Input POE term.
H_new_old	Transformation between the base frame of this POE and the base frame of the input POE term.

append() [2/2]

void PoeExpression::append	(	const PoeExpression &	poe,
		const KDL::Frame &	H_new_old = KDL::Frame::Identity()
	)

All internal coordinates of the input POE are referred to the current base frame after applying an (optional) intermediate transformation. The current tool frame is replaced by the appended POE's tool frame and updated in the same manner.

Parameters

poe	Input POE formula.
H_new_old	Transformation between the new and the old base frame.

changeBaseFrame()

void PoeExpression::changeBaseFrame

(

const KDL::Frame &

H_new_old

)

All POE terms as well as the base-to-tool reference frame will be updated accordingly.

Parameters

H_new_old

Transformation between the new and the old base frame.

changeToolFrame()

void roboticslab::PoeExpression::changeToolFrame ( const KDL::Frame &  H_new_old )

inline

Parameters

H_new_old

Transformation between the new and the old tool frame.

evaluate()

bool PoeExpression::evaluate	(	const KDL::JntArray &	q,
		KDL::Frame &	H
	)		const

Parameters

q	Input joint array (radians).
H	Output pose in cartesian space.

Returns

False if the size of the input joint array does not match the size of this POE.

exponentialAtJoint()

const MatrixExponential& roboticslab::PoeExpression::exponentialAtJoint ( int  i ) const

inline

Parameters

i	Zero-based index of the requested term.

Returns

An unmodifiable reference to said term.

fromChain()

PoeExpression PoeExpression::fromChain ( const KDL::Chain &  chain )

static

Parameters

chain

A KDL kinematic chain representation.

Returns

The resulting POE formula.

See also

toChain

getTransform()

const KDL::Frame& roboticslab::PoeExpression::getTransform ( ) const

inline

Returns

Transformation between the base and the tool frame.

makeReverse()

PoeExpression PoeExpression::makeReverse

(

)

const

The sequence of POE terms is reversed and the base and tool frames interchanged. Note that theta_i = -theta_(size-i)_reversed.

Returns

A reversed copy of this instance.

See also

reverseSelf

reverseSelf()

void PoeExpression::reverseSelf

(

)

The sequence of POE terms is reversed and the base and tool frames interchanged. Note that theta_i = -theta_(size-i)_reversed.

See also

makeReverse

size()

int roboticslab::PoeExpression::size ( ) const

inline

Returns

Number of terms in this POE formula.

toChain()

KDL::Chain PoeExpression::toChain

(

)

const

Returns

A KDL kinematic chain representation.

See also

fromChain

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

• libraries/ScrewTheoryLib/ProductOfExponentials.hpp
• libraries/ScrewTheoryLib/ProductOfExponentials.cpp