CRobot Class Reference

Robot (kinematic, geometric, dynamic model). More...

#include <robot.h>

List of all members.

Public Member Functions
	CRobot ()
	~CRobot ()
void	init (char *filename)
	Initializes the robot.
void	cleanUp ()
void	initDhParameters (char *filename)
	Reads kinematic model data from xml file.
void	updateDhParameters (bool current=true)
	Reads current angles from the robot wrapper and updates the denavit hartenberg parameters.
void	getAnglesFromDh (float *angles)
	Extracts angles from denavit hartenberg parameters.
void	setDhFromAngles (float *angles)
	Updates denavit hartenberg parameters with array of angles.
void	calcForwardKinematics (bool draw=true)
	Calculates forward kinematics based on denavit hartenberg parameters.
void	calcInverseKinematics (int kinematicChain, CMatrix &pose)
	Calculates inverse kinematics.
void	calcDynamics (float *angles, float *angles_v, float *angles_a, int view, float *result)
	Calculates dynamic behaviour of robot.
void	estimateInverseKinematics (int kinematicChain, CMatrix &pose)
	Numerical estimation of the inverse kinematics.
void	getTCPs (CVec *positionAndOrientation)
	Generates an array of Position and Orientation vectors.
void	calcKinematicChain (int len, CBox *geometry[], CDh *dhValues[])
int	checkCollisions (bool msg=true, bool useOld=false)
	Starts collision test.
int	checkCollisions (int &first, int &second)
	Starts collision test.
bool	xmlToFrame (CFrame *frame, TiXmlElement *frameNode)
	Transforms a <FRAME> (xml object) into a frame.
int	getFrameByName (char *name, bool create=false)
	Returns index of frame with the stated name.
Public Attributes
CKinematicChainContainer	kinematicChains
	Kinematic model.
CFrame *	frames [FRAMES_COUNT]
	All frames associated with the kinematic and geometric model.
int	framesCount
	Number of frames.
int	id
	Robot type.
CGeometry	geometry
	Geometric model.

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Detailed Description

Robot (kinematic, geometric, dynamic model).

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Constructor & Destructor Documentation

CRobot::CRobot

(

)

CRobot::~CRobot

(

)

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Member Function Documentation

void CRobot::init

(

char *

filename

)

Initializes the robot.

void CRobot::cleanUp

(

)

void CRobot::initDhParameters

(

char *

filename

)

Reads kinematic model data from xml file.

Loads frames and kinematic chains.

void CRobot::updateDhParameters

(

bool

current = true

)

Reads current angles from the robot wrapper and updates the denavit hartenberg parameters.

Parameters:

current

True, if current angles of the servo motors should be used. False, if target angles should be used

void CRobot::getAnglesFromDh

(

float *

angles

)

Extracts angles from denavit hartenberg parameters.

void CRobot::setDhFromAngles

(

float *

angles

)

Updates denavit hartenberg parameters with array of angles.

void CRobot::calcForwardKinematics

(

bool

draw = true

)

Calculates forward kinematics based on denavit hartenberg parameters.

Parameters:

draw

True, if the new robot pose should be visualized in the opengl-viewer

void CRobot::calcInverseKinematics	(	int	kinematicChain,
		CMatrix &	pose
	)

Calculates inverse kinematics.

The result of the inverse kinematics calculation is stored in the denavit hartenberg structures of the links in the kinematic chain. Use getAnglesFromDh to extract the angle values.

Parameters:

	kinematicChain	Index of kinematic chain
	pose	Pose the last link in the kinematic chain should take on

void CRobot::calcDynamics	(	float *	angles,
		float *	angles_v,
		float *	angles_a,
		int	view,
		float *	result
	)

Calculates dynamic behaviour of robot.

TODO: implement

Parameters:

	angles	Current angles
	angles_v	Current angle speed
	angles_a	Current angle acceleration

void CRobot::estimateInverseKinematics	(	int	kinematicChain,
		CMatrix &	pose
	)

Numerical estimation of the inverse kinematics.

DOES NOT WORK PROPERLY!

void CRobot::getTCPs

(

CVec *

positionAndOrientation

)

Generates an array of Position and Orientation vectors.

The position (xzy) and orientation (euler angles) of every limb will be stored in the array. Used to display the limb information on the screen.

See also:

CConsole::printInfo

Parameters:

positionAndOrientation

Has to be allocated of size kinematicChains::length * 2

void CRobot::calcKinematicChain	(	int	len,
		CBox *	geometry[],
		CDh *	dhValues[]
	)

int CRobot::checkCollisions	(	bool	msg = true,
		bool	useOld = false
	)

Starts collision test.

Parameters:

	msg	Show collision messages
	useOld	Only show collision message if the robot pose changed (a bit)

int CRobot::checkCollisions	(	int &	first,
		int &	second
	)

Starts collision test.

See also:

CGeometry::checkCollisions

bool CRobot::xmlToFrame	(	CFrame *	frame,
		TiXmlElement *	frameNode
	)

Transforms a <FRAME> (xml object) into a frame.

int CRobot::getFrameByName	(	char *	name,
		bool	create = false
	)

Returns index of frame with the stated name.

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Member Data Documentation

CKinematicChainContainer CRobot::kinematicChains

Kinematic model.

CFrame* CRobot::frames[FRAMES_COUNT]

All frames associated with the kinematic and geometric model.

int CRobot::framesCount

Number of frames.

int CRobot::id

Robot type.

See also:

ROBOT_TYPES

CGeometry CRobot::geometry

Geometric model.

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The documentation for this class was generated from the following files:

• include/robot.h
• src/robot.cpp

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