Tools/Actorics/Kinematics.h File Reference

Class Kinematics provides methods for robots kinematic calculations. More...

#include "Tools/Actorics/RobotVertices.h"
#include "Representations/Motion/JointData.h"
#include "Representations/Perception/SensorData.h"
#include "Representations/Perception/CameraMatrix.h"

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Classes
class	Kinematics
	Provides Methods for robots kinematic calculations. More...
Defines
#define	LEFTLEG(leg)   ((leg==Kinematics::fl)||(leg==Kinematics::hl))
#define	FORELEG(leg)   ((leg==Kinematics::fr)||(leg==Kinematics::fl)||(leg==Kinematics::basefront))
#define	LEGBASE(leg)   ((leg==Kinematics::basefront)||(leg==Kinematics::basehind))

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Detailed Description

Class Kinematics provides methods for robots kinematic calculations.

Author:

Max Risler

Uwe Düffert

Definition in file Kinematics.h.

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Define Documentation

#define LEFTLEG (  leg   )     ((leg==Kinematics::fl)||(leg==Kinematics::hl))

Definition at line 18 of file Kinematics.h. Referenced by InvKinWalkingEngine::calculateFootPositions(), GT2004WalkingEngine::calculateFootPositions(), Kinematics::kneePositionFromJoints(), Kinematics::legPositionFromJoints(), and Kinematics::transformToLegBase().

#define FORELEG (  leg   )     ((leg==Kinematics::fr)||(leg==Kinematics::fl)||(leg==Kinematics::basefront))

Definition at line 19 of file Kinematics.h. Referenced by InvKinWalkingParameters::allFeetOnGround(), InvKinWalkingEngine::calculateFootPositions(), GT2004WalkingEngine::calculateFootPositions(), InvKinWalkingEngine::calculateRelativeFootPosition(), GT2004WalkingEngine::calculateRelativeFootPosition(), Kinematics::jointsFromLegPosition(), Kinematics::kneePositionFromJoints(), Kinematics::legPositionFromJoints(), and Kinematics::transformToLegBase().

#define LEGBASE (  leg   )     ((leg==Kinematics::basefront)||(leg==Kinematics::basehind))

Definition at line 20 of file Kinematics.h. Referenced by Kinematics::kneePositionFromJoints(), Kinematics::legPositionFromJoints(), and Kinematics::transformToLegBase().

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