Overview

This component computes forward kinematics of the robot and provides positions and orientations of links.

implementation_id	ForwardKinematics
category	example

Data Ports

Input Ports

port name	data type	unit	description
q	RTC::TimedDoubleSeq	[rad]	measured joint angles
sensorRpy	RTC::TimedOrientation3D	[rad]	Roll-Pitch-Yaw angles of the link to which an intertia sensor is attached
qRef	RTC::TimedDoubleSeq	[rad]	reference joint angles
basePosRef	RTC::TimedPoint3D	[m]	reference position of the base link
baseRpyRef	RTC::TimedOrientation3D	[rad]	reference Roll-Pitch-Yaw angles of the base link

Output Ports

N/A

Service Ports

Service Providers

port name	interface name	service type	IDL	description
ForwardKinematicsService	service0	ForwardKinematicsService	OpenHRP::ForwardKinematicsService

Service Consumers

N/A

Configuration Variables

name	type	unit	default value	description
sensorAttachedLink	std::string		""	name of the link to which the inertia sensor is attached. If this variable is not set, the root link is used as the sensor attached link.

Configuration File

key	type	unit	description
model	std::string		URL of the robot model