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kinematics-dynamics
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Contains classes related to Screw Theory solvers and tools. More...
Classes | |
| class | roboticslab::ConfigurationSelector |
| Abstract base class for a robot configuration strategy selector. More... | |
| class | roboticslab::ConfigurationSelectorLeastOverallAngularDisplacement |
| IK solver configuration strategy selector based on the overall displacement of all joints. More... | |
| class | roboticslab::ConfigurationSelectorHumanoidGait |
| IK solver configuration strategy selector based on human walking. More... | |
| class | roboticslab::ConfigurationSelectorFactory |
| Base factory class for ConfigurationSelector. More... | |
| class | roboticslab::ConfigurationSelectorLeastOverallAngularDisplacementFactory |
| Implementation factory class for ConfigurationSelectorLeastOverallAngularDisplacement. More... | |
| class | roboticslab::ConfigurationSelectorHumanoidGaitFactory |
| Implementation factory class for ConfigurationSelectorHumanoidGait. More... | |
| class | roboticslab::MatrixExponential |
| Abstraction of a term in a product of exponentials (POE) formula. More... | |
| class | roboticslab::PoeExpression |
| Abstraction of a product of exponentials (POE) formula. More... | |
| class | roboticslab::ScrewTheoryIkSubproblem |
| Interface shared by all IK subproblems found in Screw Theory applied to Robotics. More... | |
| class | roboticslab::ScrewTheoryIkProblem |
| Proxy IK problem solver class that iterates over a sequence of subproblems. More... | |
| class | roboticslab::ScrewTheoryIkProblemBuilder |
| Automated IK solution finder. More... | |
| class | roboticslab::PadenKahanOne |
| First Paden-Kahan subproblem. More... | |
| class | roboticslab::PadenKahanTwo |
| Second Paden-Kahan subproblem. More... | |
| class | roboticslab::PadenKahanThree |
| Third Paden-Kahan subproblem. More... | |
| class | roboticslab::PardosGotorOne |
| First Pardos-Gotor subproblem. More... | |
| class | roboticslab::PardosGotorTwo |
| Second Pardos-Gotor subproblem. More... | |
| class | roboticslab::PardosGotorThree |
| Third Pardos-Gotor subproblem. More... | |
| class | roboticslab::PardosGotorFour |
| Fourth Pardos-Gotor subproblem. More... | |
Functions | |
| KDL::Rotation | roboticslab::vectorPow2 (const KDL::Vector &v) |
| Multiply a vector by itself to obtain a square matrix. | |
| double | roboticslab::normalizeAngle (double angle) |
| Clip an angle value between certain bounds. | |
Proof of concept for a kinematics library based on screw theory concepts applied to robotics. This implementation is mainly focused on solving inverse kinematics problems in an efficient and effective manner via closed-form geometric solutions. Comparing this approach with a tradicional numeric-based approach yields ([4] [5]):
| double roboticslab::normalizeAngle | ( | double | angle | ) |
Values that exceed [-pi pi] are normalized to fit this range. Values close to -pi are approximated as pi.
| angle | Magnitude of the requested angle. |
| KDL::Rotation roboticslab::vectorPow2 | ( | const KDL::Vector & | v | ) |
Given a column-vector v, computes v*v'.
| v | Input vector. |
1.9.8