industrial_calibration::DHChain Class Reference

Robot representation using DH parameters.

#include <dh_chain.h>

Public Member Functions
	DHChain (std::vector< DHTransform > transforms, const Eigen::Isometry3d &base_offset=Eigen::Isometry3d::Identity())
	DHChain (const DHChain &rhs, const Eigen::MatrixX4d &dh_offsets)
template<typename T >
Isometry3< T >	getFK (const Eigen::Matrix< T, Eigen::Dynamic, 1 > &joint_values) const
	Calculates forward kinematics for the chain with the joints provided. Note: the transform to the n-th link is calculated, where n is the size of joint_values.
template<typename T >
Isometry3< T >	getFK (const Eigen::Matrix< T, Eigen::Dynamic, 1 > &joint_values, const Eigen::Matrix< T, Eigen::Dynamic, 4 > &offsets) const
	Calculates the forward kinematics for the chain given a set of joint values and DH parameter offsets Note: the transform to the n-th link is calculated, where n is the size of joint_values.
Eigen::VectorXd	createUniformlyRandomPose () const
	Creates a random joint pose by choosing a random uniformly distributed joint value for each joint in the chain.
std::size_t	dof () const
	Returns the number of degrees of freedom (i.e. DH transforms) of the chain.
Eigen::MatrixX4d	getDHTable () const
	Gets a dof() x 4 matrix of the DH parameters.
std::vector< DHJointType >	getJointTypes () const
	Returns a the joint types of the kinematic chain in order.
std::vector< std::array< std::string, 4 > >	getParamLabels () const
	Returns the labels of the DH parameters for each DH transform in the chain.
Eigen::Isometry3d	getBaseOffset () const
	Gets the base offset of the transform.
Eigen::Isometry3d	getRelativeTransform (int joint_index, double value) const
	Get a joints relative joint transform.

Protected Attributes
std::vector< DHTransform >	transforms_
	The DH transforms that make up the chain.
Eigen::Isometry3d	base_offset_
	Fixed transform offset to the beginning of the chain.

Friends
struct	YAML::convert< DHChain >
struct	YAML::as_if< DHChain, void >

Member Function Documentation

getFK() [1/2]

template<typename T >

Isometry3< T > industrial_calibration::DHChain::getFK ( const Eigen::Matrix< T, Eigen::Dynamic, 1 > &  joint_values ) const

inline

Parameters

joint_values

- The joint values with which to calculate forward kinematics (size: [<= dof()])

Returns

Exceptions

Exception

if the size of joint_values is larger than the number of DH transforms in the chain

getFK() [2/2]

template<typename T >

Isometry3< T > industrial_calibration::DHChain::getFK ( const Eigen::Matrix< T, Eigen::Dynamic, 1 > &  joint_values, const Eigen::Matrix< T, Eigen::Dynamic, 4 > &  offsets  ) const

inline

Parameters

joint_values	- The joint values with which to calculate the forward kinematics (size: [<= dof()])
offsets	- The DH parameter offsets to apply when calculating the forward kinematics (size: [dof() x 4])

Returns

Exceptions

Exception

if the size of joint_values is larger than the number of DH transforms in the chain or if the size of joint_values is larger than the rows of DH offsets

createUniformlyRandomPose()

Eigen::VectorXd industrial_calibration::DHChain::createUniformlyRandomPose

(

)

const

Returns

dof()

std::size_t industrial_calibration::DHChain::dof

(

)

const

Returns

getDHTable()

Eigen::MatrixX4d industrial_calibration::DHChain::getDHTable

(

)

const

Returns

getJointTypes()

std::vector< DHJointType > industrial_calibration::DHChain::getJointTypes

(

)

const

Returns

getParamLabels()

std::vector< std::array< std::string, 4 > > industrial_calibration::DHChain::getParamLabels

(

)

const

Returns

getBaseOffset()

Eigen::Isometry3d industrial_calibration::DHChain::getBaseOffset

(

)

const

Returns

getRelativeTransform()

Eigen::Isometry3d industrial_calibration::DHChain::getRelativeTransform	(	int	joint_index,
		double	value
	)		const

Parameters

joint_index	The joint index
value	The joint value

Returns

The joint relative transform