Libbarrett  1.2.4
Functions
src/cdlbt/kinematics.c File Reference
#include <math.h>
#include <syslog.h>
#include <libconfig.h>
#include <gsl/gsl_blas.h>
#include <gsl/gsl_math.h>
#include <gsl/gsl_matrix.h>
#include <gsl/gsl_vector.h>
#include <barrett/cdlbt/kinematics.h>
#include <barrett/cdlbt/gsl.h>

Functions

int bt_kinematics_create (struct bt_kinematics **kinptr, config_setting_t *kinconfig, int ndofs)
int bt_kinematics_destroy (struct bt_kinematics *kin)
int bt_kinematics_eval (struct bt_kinematics *kin, const gsl_vector *jposition, const gsl_vector *jvelocity)
int bt_kinematics_eval_jacobian (struct bt_kinematics *kin, int jlimit, gsl_vector *point, gsl_matrix *jac)
Private functions

Copyright 2009-2014 Barrett Technology <support@barrett.com>

This file is part of libbarrett.

This version of libbarrett is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This version of libbarrett is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this version of libbarrett. If not, see <http://www.gnu.org/licenses/>.

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Detailed Description

Implementation of bt_kinematics, a simple forward kinematics library for single-chain revolute robots.

Author:
Christopher Dellin
Date:
2008-2009

Function Documentation

int bt_kinematics_create ( struct bt_kinematics **  kinptr,
config_setting_t *  kinconfig,
int  ndofs 
)

Create a bt_kinematics object from a given configuration.

This function creates a new kinematics object, reading the DH parameters and toolplate information from the configuration given by kinconfig. Currently, the number of moving links (ndofs) is also passed, and the creating fails if the number of moving links read from the configuration file does not match the expected number.

Parameters:
[out]kinptrThe bt_kinematics object on success, or 0 on failure
[in]kinconfigKinematics configuration, from libconfig
[in]ndofsExpected number of moving links
Return values:
0Success
int bt_kinematics_destroy ( struct bt_kinematics kin)

Destroy a bt_kinematics object.

This function destroys a bt_kinematics object created by bt_kinematics_create().

Parameters:
[in]kinbt_kinematics object to destroy
Return values:
0Success
int bt_kinematics_eval ( struct bt_kinematics kin,
const gsl_vector *  jposition,
const gsl_vector *  jvelocity 
)

Evaluate all link transforms, including the toolplate jacobian.

This function is used in a control loop to update all link transform matrices (and associated matrix and vector views) given a vector of joint positions and velocities.

Parameters:
[in]kinbt_kinematics object
[in]jpositionJoint position vector
[in]jvelocityJoint velocity vector
Return values:
0Success
int bt_kinematics_eval_jacobian ( struct bt_kinematics kin,
int  jlimit,
gsl_vector *  point,
gsl_matrix *  jac 
)

Evalulate the Jacobian matrix at a paticular point on a particular link.

This function evaluates the Jacobian matrix for a given point on a given moving link.

Parameters:
[in]kinbt_kinematics object
[in]jlimitThe number of the moving link on which the point lies, (ndofs for the toolplate)
[in]pointThe point at which the Jacobian should be calculate, in world coordinates
[out]jacThe Jacobian matrix into which to calculate; it should be an alread-allocated 6-N matrix.
Return values:
0Success
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