RobotVertices Struct Reference

The RobotVertices struct contains the 3D position of important points of the robot like the shoulder, knee and foot positions. More...

#include <RobotVertices.h>

Collaboration diagram for RobotVertices:

[legend]List of all members.

Public Member Functions
	RobotVertices ()
	Default constructor.
	RobotVertices (const RobotDimensions &r)
	Constructor.
Public Attributes
Vector3< double >	neck
Vector3< double >	shoulderPosition [4]
Vector3< double >	kneePosition [4]
Vector3< double >	footPosition [4]
double	bodyTilt
double	bodyRoll
double	neckHeight
unsigned	frameNumber

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Detailed Description

The RobotVertices struct contains the 3D position of important points of the robot like the shoulder, knee and foot positions.

All positions are relative to the neck or a point below the neck. So the coordinate of the neck will always be (0,0,z)

Author:

Uwe Düffert

Definition at line 22 of file RobotVertices.h.

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Constructor & Destructor Documentation

RobotVertices::RobotVertices (   )  [inline]

Default constructor. Definition at line 36 of file RobotVertices.h. References bodyRoll, bodyTilt, frameNumber, and neckHeight.

RobotVertices::RobotVertices (  const RobotDimensions &  r  )

Constructor. Constructs vertices for a robot with all joints set to 0. Parameters: r  The dimensions of the robot. Definition at line 12 of file RobotVertices.cpp. References RobotDimensions::bodyWidth, footPosition, kneePosition, RobotDimensions::lengthBetweenLegs, RobotDimensions::lowerForeLegLength, RobotDimensions::lowerHindLegLength, neck, RobotDimensions::neckToLegsLengthX, RobotDimensions::neckToLegsLengthZ, shoulderPosition, RobotDimensions::upperLegLength, RobotDimensions::upperLegLengthX, RobotDimensions::zeroFrontKneeArc, RobotDimensions::zeroHindKneeArc, and RobotDimensions::zeroShoulderArc.

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Member Data Documentation

Vector3<double> RobotVertices::neck

Definition at line 25 of file RobotVertices.h. Referenced by Kinematics::getAbsoluteRobotVertices(), and RobotVertices().

Vector3<double> RobotVertices::shoulderPosition[4]

Definition at line 27 of file RobotVertices.h. Referenced by Kinematics::calcNeckAndLegPositions(), Kinematics::calcRelativeRobotVertices(), Kinematics::getAbsoluteRobotVertices(), Kinematics::getRelativeRobotVertices(), and RobotVertices().

Vector3<double> RobotVertices::kneePosition[4]

Definition at line 28 of file RobotVertices.h. Referenced by Kinematics::calcNeckAndLegPositions(), Kinematics::calcRelativeRobotVertices(), Kinematics::getAbsoluteRobotVertices(), Kinematics::getRelativeRobotVertices(), Kinematics::getRobotTransformation(), and RobotVertices().

Vector3<double> RobotVertices::footPosition[4]

Definition at line 29 of file RobotVertices.h. Referenced by Kinematics::calcNeckAndLegPositions(), Kinematics::calcRelativeRobotVertices(), Kinematics::getAbsoluteRobotVertices(), Kinematics::getRelativeRobotVertices(), Kinematics::getRobotTransformation(), RobotVertices(), and BB2004InvKinWalkingEngine::updateOdometry().

double RobotVertices::bodyTilt

Definition at line 30 of file RobotVertices.h. Referenced by Kinematics::calcNeckAndLegPositions(), GT2004SensorDataProcessor::calculateBodyPostureFromLegSensors(), BB2004Calibrator::evolve(), Kinematics::getAbsoluteRobotVertices(), and RobotVertices().

double RobotVertices::bodyRoll

Definition at line 31 of file RobotVertices.h. Referenced by Kinematics::calcNeckAndLegPositions(), GT2004SensorDataProcessor::calculateBodyPostureFromLegSensors(), BB2004Calibrator::evolve(), Kinematics::getAbsoluteRobotVertices(), and RobotVertices().

double RobotVertices::neckHeight

Definition at line 32 of file RobotVertices.h. Referenced by Kinematics::calcNeckAndLegPositions(), GT2004SensorDataProcessor::calculateBodyPostureFromLegSensors(), BB2004Calibrator::evolve(), and RobotVertices().

unsigned RobotVertices::frameNumber

Definition at line 33 of file RobotVertices.h. Referenced by Kinematics::calcRelativeRobotVertices(), and RobotVertices().

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The documentation for this struct was generated from the following files:

• Tools/Actorics/RobotVertices.h
• Tools/Actorics/RobotVertices.cpp

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