Kinematics.h File Reference

Describes Kinematics, which provides access to the mathematical functionality of the roboop package using Tekkotsu data structures. More...

#include "Shared/RobotInfo.h"
#include "Shared/fmat.h"
#include "Shared/Measures.h"
#include "Motion/KinematicJoint.h"
#include <string>
#include <vector>

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Classes
class	Kinematics
	Forward and inverse kinematics calculations using Tekkotsu output indices. More...
struct	Kinematics::InterestPoint
	holds the position and attached link of a given interest point More...
Variables
Kinematics *	kine
	a global instance of Kinematics, joint values reference those of WorldState so users can easily query the current spatial locations of joints

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Detailed Description

Describes Kinematics, which provides access to the mathematical functionality of the roboop package using Tekkotsu data structures.

Author:

ejt (Creator)

Definition in file Kinematics.h.

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Variable Documentation

Kinematics* kine

a global instance of Kinematics, joint values reference those of WorldState so users can easily query the current spatial locations of joints

Definition at line 18 of file Kinematics.cc.

Referenced by ArmController::ArmController(), DualCoding::MapBuilder::calculateGroundPlane(), CBracketGrasperPredicate< N >::CBracketGrasperPredicate(), RRTNode3DR< N >::CollisionChecker::CollisionChecker(), RRTNode2DR< N >::CollisionChecker::CollisionChecker(), Grasper::computeGoalStates(), XWalkParameters::computeNeutralPos(), LookAtMarkers::Search::doEvent(), LookAtMarkers::TrackMarker::doEvent(), KoduInterpreter::GiveActionRunner::GiveActionSend::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::LookAtTheGripper::doStart(), Grasper::ReleaseArm::doStart(), Grasper::PlanBodyTransport::doStart(), Grasper::ArmRaise::doStart(), Grasper::ArmNudge::doStart(), Grasper::Verify::CheckCross::doStart(), Grasper::Verify::CheckDomino::doStart(), Grasper::DoBodyApproach3::doStart(), Grasper::DoBodyApproach2::doStart(), Grasper::PlanArmApproach::doStart(), ArmController::doStart(), RawCam::drawShapesIntoBuffer(), Grasper::MoveArm::executeMove(), DualCoding::Lookout::findLocationFor(), DualCoding::MapBuilder::getCamCrosses(), DualCoding::MapBuilder::getCamCylinders(), DualCoding::MapBuilder::getCamDominoes(), Grasper::getCurrentState(), DualCoding::MapBuilder::grabCameraImageAndGo(), IKCalliope::IKCalliope(), HeadPointerMC::lookAtJoint(), HeadPointerMC::lookAtPoint(), HeadPointerMC::lookInDirection(), ArmMC::moveOffsetToPoint(), ArmMC::moveOffsetToPointWithOrientation(), ArmController::pointPicked(), DualCoding::Lookout::processPointAtEvent(), DualCoding::Lookout::processSearchEvent(), projectShapeToCamera(), DualCoding::MapBuilder::projectToLocal(), ArmController::setJoint(), DualCoding::Lookout::setupTrack(), ShapeSpaceCollisionCheckerBase< N >::ShapeSpaceCollisionCheckerBase(), ShapeSpacePlanner2DR< N >::ShapeSpacePlanner2DR(), and ShapeSpacePlanner3DR< N >::ShapeSpacePlanner3DR().