void kine(Matrix & Rot, ColumnVector & pos); void kine(Matrix & Rot, ColumnVector & pos, const int j); ReturnMatrix kine(void); ReturnMatrix kine(const int j);
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(2.55) |
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(2.56) |
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(2.57) |
The overloaded function kine can return the orientation and position or
the equivalent homogeneous transform for the last (if not supplied) or the
link. For example:
Robot myrobot(init_matrix); Matrix Thomo, R; ColumnVector p; /* forward kinematics up to the last link */ Thomo = myrobot.kine(); /* forward kinematics up to the 2nd link */ Thomo = myrobot.kine(2); /* forward kinematics up to the last link, outputs R and p */ myrobot.kine(R,p); /* forward kinematics up to the 2nd link, outputs R and p */ myrobot.kine(R,p,2);are valid calls to the function kine.
Matrix or None (in this case Rot and pos are modified on output)