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Kinematics.h File Reference


Detailed Description

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

Author:
ejt (Creator)
Author
ejt
Name
tekkotsu-2_2_1
Revision
1.23
State
Exp
Date
2004/10/19 17:06:31

Definition in file Kinematics.h.

#include "Shared/RobotInfo.h"
#include "Wireless/Socket.h"
#include "Shared/newmat/newmat.h"
#include <string>
#include <vector>
#include <ext/hash_map>

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Namespaces

namespace  ROBOOP

Classes

class  Kinematics
 Provides access to the mathematical functionality of the ROBOOP package using Tekkotsu data structures. More...
struct  Kinematics::JointMap
 Allows mapping from tekkotsu output index to chain and link indicies. More...
struct  Kinematics::InterestPoint
 holds the position and attached link of a given interest point More...
struct  Kinematics::hashstring
 allows us to use the STL hash_map with strings More...

Variables

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


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 10 of file Kinematics.cc.

Referenced by MMCombo::DoInit(), PostureEngine::PostureEngine(), GroundPlaneBehavior::processEvent(), KinematicSampleBehavior::processEvent(), KinematicSampleBehavior2::processEvent(), and StareAtPawBehavior2::processEvent().


Tekkotsu v2.2.1
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