Homepage | Demos | Overview | Downloads | Tutorials | Reference | Credits |
========================================================================= CMPack'02 Source Code Release for OPEN-R SDK v1.0 Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso] School of Computer Science, Carnegie Mellon University ------------------------------------------------------------------------- This software is distributed under the GNU General Public License, version 2. If you do not have a copy of this licence, visit www.gnu.org, or write: Free Software Foundation, 59 Temple Place, Suite 330 Boston, MA 02111-1307 USA. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY, including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. ------------------------------------------------------------------------- Additionally licensed to Sony Corporation under the following terms: This software is provided by the copyright holders AS IS and any express or implied warranties, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose are disclaimed. In no event shall authors be liable for any direct, indirect, incidental, special, exemplary, or consequential damages (including, but not limited to, procurement of substitute goods or services; loss of use, data, or profits; or business interruption) however caused and on any theory of liability, whether in contract, strict liability, or tort (including negligence or otherwise) arising in any way out of the use of this software, even if advised of the possibility of such damage. =========================================================================
Definition in file Kinematics.cc.
#include <math.h>
#include "Kinematics.h"
Include dependency graph for Kinematics.cc:
Go to the source code of this file.
Functions | |
const vector3d | f_body_to_shoulder (59.50, 59.20, 0.00) |
const vector3d | f_leg_shoulder_to_knee (12.80, 0.50,-64.00) |
const vector3d | f_leg_knee_to_ball (-18.00, 0.00,-67.23) |
const vector3d | h_body_to_shoulder (-59.50, 59.20, 0.00) |
const vector3d | h_leg_shoulder_to_knee (-12.80, 0.50,-64.00) |
const vector3d | h_leg_knee_to_ball (18.00, 0.00,-74.87) |
void | KinClearErrors () |
int | KinGetErrors () |
double | GetTrigAngle (double a, double b, double d, double mn, double mx, bool add) |
void | GetLegAngles (double *angles, vector3d target, int leg) |
void | GetLegAngles (double *angles, vector3d target[4], double body_angle, double body_height) |
void | GetLegAngles (double *angles, vector3d target[4], BodyPosition &bp) |
void | GetLegAngles (double *angles, vector3d target, BodyPosition &bp, int leg) |
void | GetLegPosition (vector3d &p, const double *ang, int leg) |
void | GetBodyLocation (vector3d &ball, vector3d &toe, const double *ang, int leg) |
void | GetHeadAngles (double *angles, vector3d target, double body_angle, double body_height) |
vector3d | RunForwardModel (double *angles, double body_angle, double body_height, vector3d point) |
void | GetHeadPosition (vector3d &location, vector3d &direction, vector3d &up, vector3d &right, double *angles, double body_angle, double body_height) |
Variables | |
const vector3d | f_upper = f_leg_shoulder_to_knee |
const vector3d | f_lower = f_leg_knee_to_ball |
const vector3d | h_upper = h_leg_shoulder_to_knee |
const vector3d | h_lower = h_leg_knee_to_ball |
int | errors |
const double | rotator_min = RAD(-117.0) |
const double | rotator_max = RAD( 117.0) |
const double | shoulder_min = RAD( -11.0) |
const double | shoulder_max = RAD( 97.0) |
const double | knee_max = RAD( 147.0) |
const double | knee_min = RAD( -27.0) |
const double | rotator_kmin = RAD(-90.0) |
const double | rotator_kmax = RAD( 90.0) |
const double | shoulder_kmin = shoulder_min |
const double | shoulder_kmax = RAD( 90.0) |
const double | knee_kmax = knee_max |
const double | f_knee_kmin = 0.2616 |
const double | h_knee_kmin = 0.2316 |
const double | tail_min = RAD(-22) |
const double | tail_max = RAD( 22) |
const double | head_tilt_min = RAD(-88.5) |
const double | head_tilt_max = RAD( 43.0) |
const double | head_pan_min = RAD(-89.6) |
const double | head_pan_max = RAD( 89.6) |
const double | head_roll_min = RAD(-29.0) |
const double | head_roll_max = RAD( 29.0) |
|
|
|
|
|
|
|
|
Definition at line 337 of file Kinematics.cc. References body_to_neck(), bound(), head_pan_max, head_pan_min, head_tilt_max, head_tilt_min, GVector::vector3d< double >::length(), neck_to_camera(), GVector::vector3d< double >::rotate_y(), GVector::vector3d< double >::x, GVector::vector3d< double >::y, and GVector::vector3d< double >::z. |
|
Definition at line 423 of file Kinematics.cc. References GVector::vector3d< double >::norm(), RunForwardModel(), and vector3d. |
|
Definition at line 289 of file Kinematics.cc. References BodyPosition::angle, BodyPosition::loc, GVector::vector3d< double >::rotate_z(), GVector::vector3d< double >::y, and GVector::vector3d< double >::z. |
|
Definition at line 278 of file Kinematics.cc. |
|
Definition at line 264 of file Kinematics.cc. |
|
Definition at line 185 of file Kinematics.cc. |
|
|
Definition at line 101 of file Kinematics.cc. References errors. |
|
|
|
|
|
|
|
Definition at line 91 of file Kinematics.cc. References errors. |
|
Definition at line 96 of file Kinematics.cc. References errors. |
|
Definition at line 395 of file Kinematics.cc. References body_to_neck(), neck_to_camera(), GVector::vector3d< double >::rotate_x(), GVector::vector3d< double >::rotate_y(), GVector::vector3d< double >::rotate_z(), and GVector::vector3d< double >::z. |
|
Definition at line 89 of file Kinematics.cc. |
|
Definition at line 171 of file Kinematics.cc. |
|
Definition at line 79 of file Kinematics.cc. |
|
Definition at line 78 of file Kinematics.cc. |
|
Definition at line 172 of file Kinematics.cc. |
|
Definition at line 81 of file Kinematics.cc. |
|
Definition at line 80 of file Kinematics.cc. |
|
Definition at line 180 of file Kinematics.cc. |
|
Definition at line 179 of file Kinematics.cc. |
|
Definition at line 182 of file Kinematics.cc. |
|
Definition at line 181 of file Kinematics.cc. |
|
Definition at line 178 of file Kinematics.cc. |
|
Definition at line 177 of file Kinematics.cc. |
|
Definition at line 170 of file Kinematics.cc. |
|
Definition at line 163 of file Kinematics.cc. |
|
Definition at line 164 of file Kinematics.cc. |
|
Definition at line 167 of file Kinematics.cc. |
|
Definition at line 166 of file Kinematics.cc. |
|
Definition at line 160 of file Kinematics.cc. |
|
Definition at line 159 of file Kinematics.cc. |
|
Definition at line 169 of file Kinematics.cc. |
|
Definition at line 168 of file Kinematics.cc. |
|
Definition at line 162 of file Kinematics.cc. |
|
Definition at line 161 of file Kinematics.cc. |
|
Definition at line 175 of file Kinematics.cc. |
|
Definition at line 174 of file Kinematics.cc. |
Tekkotsu v1.4 |
Generated Sat Jul 19 00:07:27 2003 by Doxygen 1.3.2 |