Robot model related data structures and functions. More...

#include <motion_control/lmc_robot_model_config.h>
#include <motion_control/lmc_joint.h>

Include dependency graph for lmc_robot_model.h:

This graph shows which files directly or indirectly include this file:

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).

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).

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...

Robot model related data structures and functions.

Definition in file lmc_robot_model.h.