robot_model

Robot model module. More...

Data Structures
struct	lmc_link_dh_config
	DH parameter for a link. More...
struct	lmc_link_dyn_config
	Dynamic parameter for a link. More...
struct	lmc_link_config
	Overall parameter for a single link,. More...
struct	lmc_robot_model_config
	Overall parameters for a robot model. More...
struct	lmc_tool_payload
	Tool payload data. More...

Typedefs
typedef struct lmc_robot_model	lmc_robot_model_t
	Robot model data structure. More...
typedef enum lmc_robot_model_struct	lmc_robot_model_struct_t
	Enum robot model structure type. The following table shows supported structure currently. Enum value Description STRUCT_TYPE_61 6 joint manipulator type(lm3 like). STRUCT_TYPE_51 5 joint manipulator type(lm3 without the last joint). More...
typedef struct lmc_link_dh_config	lmc_link_dh_config_t
	DH parameter for a link. More...
typedef struct lmc_link_dyn_config	lmc_link_dyn_config_t
	Dynamic parameter for a link. More...
typedef struct lmc_link_config	lmc_link_config_t
	Overall parameter for a single link,. More...
typedef struct lmc_robot_model_config	lmc_robot_model_config_t
	Overall parameters for a robot model. More...
typedef struct lmc_tool_payload	lmc_tool_payload_t
	Tool payload data. More...

Enumerations
enum	lmc_robot_model_struct { STRUCT_TYPE_61, STRUCT_TYPE_51, STRUCT_TYPE_5A }
	Enum robot model structure type. The following table shows supported structure currently. Enum value Description STRUCT_TYPE_61 6 joint manipulator type(lm3 like). STRUCT_TYPE_51 5 joint manipulator type(lm3 without the last joint). More...

Functions
lmc_robot_model_t *	lmc_rm_new ()
	Create a robot model instance. More...
void	lmc_rm_delete (lmc_robot_model_t **robot_model_addr)
	Delete a robot model instance. More...
int	lmc_rm_init (lmc_robot_model_t *const robot_model, lmc_robot_model_config_t const *const robot_model_config, lmc_robot_model_struct_t struct_type)
	Init a robot model using lmc_robot_model_config_t. More...
size_t	lmc_rm_joint_dof (lmc_robot_model_t const *const robot_model)
	Get the joint DOF of robot model. More...
lmc_link_dh_config_t *	lmc_rm_get_mdh (lmc_robot_model_t const *const robot_model, size_t *const size, lmc_link_dh_config_t *const params)
	Get modified dh params. More...
int	lmc_rm_set_tool_payload (lmc_robot_model_t const *const robot_model, lmc_tool_payload_t const *const payload)
	Set tool payload, will affect all the dynamic algorithms. More...
int	lmc_rm_set_tcp_transform (lmc_robot_model_t const *const robot_model, lmc_transform_t const *const t)
	Set tcp transform, will affect the kinematic, the internal dyn param will try to recaculate by itself. More...

Detailed Description

Robot model module.

Typedef Documentation

typedef struct lmc_link_config lmc_link_config_t

Overall parameter for a single link,.

Note

Same as segment_t in lebai_kdl.

typedef struct lmc_link_dh_config lmc_link_dh_config_t

DH parameter for a link.

Note

Same as dh_t in lebai_kdl.

typedef struct lmc_link_dyn_config lmc_link_dyn_config_t

Dynamic parameter for a link.

Note

Same as d_param_t in lebai_kdl.

typedef struct lmc_robot_model_config lmc_robot_model_config_t

Overall parameters for a robot model.

Note

Same as KDL_t, but remove kp kv gravity.

typedef enum lmc_robot_model_struct lmc_robot_model_struct_t

Enum robot model structure type. The following table shows supported structure currently.

Enum value	Description
STRUCT_TYPE_61	6 joint manipulator type(lm3 like).
STRUCT_TYPE_51	5 joint manipulator type(lm3 without the last joint).

Note

typedef struct lmc_robot_model lmc_robot_model_t

Robot model data structure.

The details of this data structure is hidden in c files. We do not use the structure member directly, try to use the API.

Definition at line 31 of file lmc_robot_model.h.

typedef struct lmc_tool_payload lmc_tool_payload_t

Tool payload data.

Note

Same as payload_t in lebai_kdl.

Enumeration Type Documentation

enum lmc_robot_model_struct

Enum robot model structure type. The following table shows supported structure currently.

Enum value	Description
STRUCT_TYPE_61	6 joint manipulator type(lm3 like).
STRUCT_TYPE_51	5 joint manipulator type(lm3 without the last joint).

Note

Enumerator
STRUCT_TYPE_61	6 joint lm3 like manipulator
STRUCT_TYPE_51	5 joint manipulator
STRUCT_TYPE_5A	5 joint machine

Definition at line 41 of file lmc_robot_model.h.

Function Documentation

void lmc_rm_delete

(

lmc_robot_model_t **

robot_model_addr

)

Delete a robot model instance.

Note

The robot_model_addr pointer will be set to NULL.

Parameters

[in]

robot_model_addr

The address of the robot_model pointer.

Examples:

example_robot_model.cc, and example_tg.cc.

lmc_link_dh_config_t* lmc_rm_get_mdh	(	lmc_robot_model_t const *const	robot_model,
		size_t *const	size,
		lmc_link_dh_config_t *const	params
	)

Get modified dh params.

Note

Parameters

[in]	robot_model	robot model data.
[out]	size	the size of return mdh array
[out]	params	modified dh param data.

Returns

modified dh param data.

int lmc_rm_init	(	lmc_robot_model_t *const	robot_model,
		lmc_robot_model_config_t const *const	robot_model_config,
		lmc_robot_model_struct_t	struct_type
	)

Init a robot model using lmc_robot_model_config_t.

Note

In old lebai_kdl library, robot_model init is coupling to tg init.

Parameters

[in]	robot_model	robot model data pointer
[in]	robot_model_config	robot model config data pointer.
[in]	struct_type	robot model struct type.

Returns

Return 0 on success, otherwise failure.

Examples:

example_robot_model.cc, and example_tg.cc.

size_t lmc_rm_joint_dof

(

lmc_robot_model_t const *const

robot_model

)

Get the joint DOF of robot model.

Note

Parameters

[in]

robot_model

robot model data with type lmc_robot_model_t

Returns

joint DOF of robot model.

lmc_robot_model_t* lmc_rm_new

(

)

Create a robot model instance.

Note

Robot model is a data structure contains kinematics and dynamics info. It's a core data structure to many algorithms. Robot model must be init by calling lmc_rm_init before any usage.

Examples:

example_robot_model.cc, and example_tg.cc.

int lmc_rm_set_tcp_transform	(	lmc_robot_model_t const *const	robot_model,
		lmc_transform_t const *const	t
	)

Set tcp transform, will affect the kinematic, the internal dyn param will try to recaculate by itself.

Note

Parameters

[in]	robot_model	robot model data.
[in]	t	Cartesian transform data.

Returns

Return 0 on success, otherwise failure.

int lmc_rm_set_tool_payload	(	lmc_robot_model_t const *const	robot_model,
		lmc_tool_payload_t const *const	payload
	)

Set tool payload, will affect all the dynamic algorithms.

Note

Parameters

[in]	robot_model	robot model data.
[in]	payload	payload data for setting

Returns

Return 0 on success, otherwise failure.