lmc_kin.h File Reference

Kinematic related functions. More...

#include <motion_control/lmc_robot_model.h>
#include <stdint.h>

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Functions
int	lmc_kin_fk_pose (lmc_robot_model_t *const robot_model, double const *const joint_pos, lmc_transform_t *const cart_pose)
	Compute kinematic forward TCP of robot. More...
int	lmc_kin_fk_pose_by_index (lmc_robot_model_t *const robot_model, double const *const joint_pos, int index, lmc_transform_t *const cart_pose)
	Compute kinematic forward position of robot. This function can compute all the link position. More...
int	lmc_kin_ik_pose (lmc_robot_model_t *const robot_model, lmc_transform_t const *const cart_pose, double *const joint_pos)
	Compute kinematic inverse joint position of robot. More...
int	lmc_kin_all_ik_poses (lmc_robot_model_t *const robot_model, lmc_transform_t const *const cart_pose, unsigned int *const num, lmc_all_joint_poses_t *const joint_poses)
	Compute kinematic inverse all possible joint positions of robot. More...
double	lmc_kin_manipulation_measure (lmc_robot_model_t *const robot_model, double const *const joint_pos)
	Compute manipulation measure. This function compute manipulation measure data, which indicate that the robot(manipulator) is in singularity. When the measure is less than 0.001, usually means the robot lose some ability in moving to certain direction. More...
int16_t	lmc_kin_get_singularity_type (lmc_robot_model_t *const robot_model, double const *const joint_pos)
	Compute singularity type data. More...
int	lmc_kin_cal_translation (lmc_transform_t const *const all_cart_pose, size_t size, float tol, lmc_translation_t *const t)
	Compute a transform from multi points(transform pose). More...
int	lmc_kin_cal_transform_from_oxy (lmc_translation_t const *const o, lmc_translation_t const *const x, lmc_translation_t const *const xy, double tol, lmc_transform_t *const t)
	Calculate a transform from three points: origin point, point on x axis, and point on xy plane(but not on x axis). The calculated transform has a translation on origin point, and a rotation which x axis align to ox, y axis is on oxy plane and perpendicular to x axis, and z axis is perpendicular to oxy plane. More...

Detailed Description

Kinematic related functions.

Author

liufang

Date

2021-07-11

Definition in file lmc_kin.h.