libmove3d
3.13.0
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Description of the ::P3D_PLAN joint. More...
#include "P3d-pkg.h"
#include "Util-pkg.h"
Functions | |
const char * | p3d_jnt_freeflyer_get_dof_name (int i_dof) |
Get the name of a degree of freedom for a plan joint. | |
void | p3d_jnt_freeflyer_stay_within_dist (p3d_stay_within_dist_data *prev_data, p3d_jnt *jntPt, p3d_stay_within_dist_data *data, double *distance, configPt q_init, configPt q_max_param, double max_param, double *reach_param) |
Compute the distance and the speed that the joint could reach. | |
void | p3d_jnt_freeflyer_calc_jnt_mat (p3d_jnt *jntPt) |
Compute the transformation matrix of the joint. | |
void | p3d_jnt_freeflyer_calc_mat_jac (p3d_jnt *jntPt) |
Compute the jacobian matrix of the joint. | |
p3d_jnt * | p3d_jnt_freeflyer_create (p3d_matrix4 pos, double *v, double *vmin, double *vmax, double *vmin_rand, double *vmax_rand, double *velocity_max, double *acceleration_max, double *jerk_max, double *param) |
Create a new joint ::P3D_FREEFLYER with angle in radian. | |
p3d_jnt * | p3d_jnt_freeflyer_create_deg (p3d_matrix4 pos, double *v, double *vmin, double *vmax, double *vmin_rand, double *vmax_rand, double *velocity_max, double *acceleration_max, double *jerk_max, double *param) |
Create a new joint ::P3D_FREEFLYER with angle in degree. | |
void | p3d_jnt_freeflyer_stay_within_sphere (p3d_stay_within_dist_data *prev_data, p3d_jnt *jntPt, p3d_stay_within_dist_data *data, double *distance, double *reach_param) |
Compute the distance and the speed that the joint could reach. |
Description of the ::P3D_PLAN joint.
It's a complex joint. It owns: 3 translations (x, y, z), 3 rotation (Rx, Ry, Rz). It's default orientation could be modify by pos in p3d_jnt_freeflyer_create().
void p3d_jnt_freeflyer_calc_jnt_mat | ( | p3d_jnt * | jntPt | ) |
Compute the transformation matrix of the joint.
This function use the value for the degree of freedom set in the joint by p3d_jnt_set_dof(). This is used in p3d_jnt_calc_mat_pos() for ::P3D_FREEFLYER joint.
jntPt,: | the joint |
void p3d_jnt_freeflyer_calc_mat_jac | ( | p3d_jnt * | jntPt | ) |
Compute the jacobian matrix of the joint.
This function use the value for the degree of freedom set in the joint by p3d_jnt_set_dof(), the position matrix and the prejacobian matrix of the previous joint. This is used in p3d_jnt_calc_mat_pos() for ::P3D_FREEFLYER joint.
jntPt,: | the joint |
p3d_jnt* p3d_jnt_freeflyer_create | ( | p3d_matrix4 | pos, |
double * | v, | ||
double * | vmin, | ||
double * | vmax, | ||
double * | vmin_rand, | ||
double * | vmax_rand, | ||
double * | velocity_max, | ||
double * | acceleration_max, | ||
double * | jerk_max, | ||
double * | param | ||
) |
Create a new joint ::P3D_FREEFLYER with angle in radian.
pos,: | the position matrix of the joint |
v,: | the values of the degree of freedom for the joint (with angle in radian) |
vmin | & vmax: the bounds values of the degree of freedom for the joint (with angle in radian) |
vmin_rand | & vmax_rand: the random (or user) bounds values of the degree of freedom for the joint (with angle in radian) |
param,: | the array of the parameters for the joint (NULL here) |
p3d_jnt* p3d_jnt_freeflyer_create_deg | ( | p3d_matrix4 | pos, |
double * | v, | ||
double * | vmin, | ||
double * | vmax, | ||
double * | vmin_rand, | ||
double * | vmax_rand, | ||
double * | velocity_max, | ||
double * | acceleration_max, | ||
double * | jerk_max, | ||
double * | param | ||
) |
Create a new joint ::P3D_FREEFLYER with angle in degree.
pos,: | the position matrix of the joint |
v,: | the values of the degree of freedom for the joint (with angle in degree) |
vmin | & vmax: the bounds values of the degree of freedom for the joint (with angle in degree) |
vmin_rand | & vmax_rand: the random (or user) bounds values of the degree of freedom for the joint (with angle in degree) |
param,: | the array of the parameters for the joint (NULL here) |
const char* p3d_jnt_freeflyer_get_dof_name | ( | int | i_dof | ) |
Get the name of a degree of freedom for a plan joint.
This is the implementation of p3d_jnt_get_dof_name() for the joint ::P3D_FREEFLYER.
i_dof,: | the index of the degree of freedom |
void p3d_jnt_freeflyer_stay_within_dist | ( | p3d_stay_within_dist_data * | prev_data, |
p3d_jnt * | jntPt, | ||
p3d_stay_within_dist_data * | data, | ||
double * | distance, | ||
configPt | q_init, | ||
configPt | q_max_param, | ||
double | max_param, | ||
double * | reach_param | ||
) |
Compute the distance and the speed that the joint could reach.
From the configuration q_init of the joint to q_max_param, this function computes an interval of parameter which all the points of the joint move by less than the distance given as input. This is the implementation of p3d_jnt_stay_within_dist() for the joint ::P3D_FREEFLYER.
Note: The joint looks directly in the robot configurations the degree of freedom that it needs.
prev_data,: | speed of the previous joint |
jntPt,: | the joint |
distance,: | the maximal distance |
qinit,: | the initial configuration |
q_max_param,: | the final configuration |
max_param,: | the value of the delta parameter in the final configuration (it gives the range param needed to reach the final configuration) |
reach_param,: | the actual maximal parameter that could be reach (previous joint can limits the range parameter) |
data,: | speed of the joint distance: the distance that the joint couldn't cross reach_param: the new maximal range parameter that could be reach |
void p3d_jnt_freeflyer_stay_within_sphere | ( | p3d_stay_within_dist_data * | prev_data, |
p3d_jnt * | jntPt, | ||
p3d_stay_within_dist_data * | data, | ||
double * | distance, | ||
double * | reach_param | ||
) |
Compute the distance and the speed that the joint could reach.
This function computes an interval of parameter for which all the points of the joint move by less than the distance given as input. This is the implementation of p3d_jnt_stay_within_sphere() for the joint ::P3D_FREEFLYER.
Note: The joint looks directly in the robot configurations the degree of freedom that it needs.
prev_data,: | speed of the previous joint |
jntPt,: | the joint |
distance,: | the maximal distance |
data,: | speed of the joint distance: the distance that the joint couldn't cross reach_param: the new maximal range parameter that could be reach |