import "ForwardKinematicsService.idl";
List of all members.
Public Types |
| typedef double | position [3] |
Public Member Functions |
| boolean | selectBaseLink (in string linkname) |
| | select a link its position of the actual model coincides with that of the reference model.
|
| boolean | getReferencePose (in string linkname, out RTC::TimedDoubleSeq pose) |
| | get link pose of the reference model.
|
| boolean | getCurrentPose (in string linkname, out RTC::TimedDoubleSeq pose) |
| | get link pose of the actual model.
|
| boolean | getRelativeCurrentPosition (in string linknameFrom, in string linknameTo, in position target, out position result) |
| | get current position of a point on a link expressed in the other link frame
|
Member Typedef Documentation
Member Function Documentation
get link pose of the actual model.
The actual model is computed from current joint angles.
- Parameters:
-
| linkname | link name |
| pose | homogeneous matrix of the link in the global coordinates |
- Returns:
- true if gotten successfully, false otherwise
get link pose of the reference model.
The reference model is computed from reference joint angles and reference position/orientation of the root link.
- Parameters:
-
| linkname | link name |
| pose | homogeneous matrix of the link in the global coordinates |
- Returns:
- true if gotten successfully, false otherwise
get current position of a point on a link expressed in the other link frame
- Parameters:
-
| linknameFrom | the result is computed w.r.t. this link |
| linknameTo | the point is fixed on this link |
| target | position of the point wrt linknameTo |
| result | relative position of the point |
- Returns:
- true if gotten successfully, false otherwise
select a link its position of the actual model coincides with that of the reference model.
- Parameters:
-
- Returns:
- true if selected successfully, false otherwise
The documentation for this interface was generated from the following file:
