Expand description
Defines traits for direct and inverse kinematics.
Enums§
- Singularity
- Defines kinematic singularity. A is a singularity when J5 = 0 (this is possible with any robot). The structure is reserved for other possible singularies but these require b = 0 and a1 = a2 so not possible with most of the robots. Joints are counted from 1 to 6 in this comment.
Constants§
- CONSTRAINT_
CENTERED - Special value that can be used with inverse_continuing, indicating that there are not previous joint value, but returned joints must be sorted to be as close as possible to the centers of the constraints. If no constraitns are set, zeroes are assumed.
- ENV_
START_ IDX - Starting index for collision_environment entries in collision pairs
- J1
- J2
- J3
- J4
- J5
- J6
- JOINTS_
AT_ ZERO - For providing singularity - proof solution when the previous value is not known. Joints that take arbitrary angles will take angles as close to 0 as possible: let solutions = kinematics.inverse_continuing(&pose, &JOINTS_AT_ZERO);
- J_BASE
- The robot base joint
- J_TOOL
- The number for the robot tool in collision report
Traits§
- Kinematics
- Defines agreed functionality of direct and inverse kinematics and singularity detection.
Type Aliases§
- Joints
- Six rotary joints of the robot with angles in radians.
- Pose
- Pose is used a pose of the robot tcp. It contains both Cartesian position and rotation quaternion
- Solutions
- For providing solutions. As invalid solutions are discarded, this is a variable length vector (may be empty if robot cannot reach the given point).