1 #ifndef ROBOTICS_CARTESIAN_DRIVE_H 2 #define ROBOTICS_CARTESIAN_DRIVE_H 4 #include "RobotDynamics3D.h" 24 const std::vector<int>&
links);
27 const std::vector<int>& links,
28 const std::vector<Vector3>& endEffectorPositions);
32 const std::vector<int>& links,
const std::vector<int>&
baseLinks,
33 const std::vector<Vector3>& endEffectorPositions);
54 const std::vector<Vector3>& angVel,
55 const std::vector<Vector3>& vel,
73 const std::vector<Vector3>& angVel,
74 const std::vector<Vector3>& vel,
77 std::vector<Config>& trace,
A 3D vector class.
Definition: math3d/primitives.h:136
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14
std::vector< Vector3 > endEffectorOffsets
The set of end effector offsets.
Definition: CartesianDrive.h:95
std::vector< int > baseLinks
In relative cartesian positioning mode, these are the base links.
Definition: CartesianDrive.h:93
Config qmin
If set, overrides the robot's default joint limits.
Definition: CartesianDrive.h:108
Real driveSpeedAdjustment
If the IK solver had problems, the drive speed will be reduced.
Definition: CartesianDrive.h:99
void GetTrajectory(const Config &qcur, const std::vector< Vector3 > &angVel, const std::vector< Vector3 > &vel, Real dt, int numSteps, std::vector< Config > &trace, bool reset=true)
Definition: CartesianDrive.cpp:353
Real ikSolveTolerance
Definition: CartesianDrive.h:87
std::vector< int > links
The set of constrained links.
Definition: CartesianDrive.h:91
Simultaneously moves joints on the robot to achieve one or more Cartesian velocity goals...
Definition: CartesianDrive.h:15
Real Drive(const Config &qcur, const std::vector< Vector3 > &angVel, const std::vector< Vector3 > &vel, Real dt, Config &qnext)
Definition: CartesianDrive.cpp:80
std::vector< RigidTransform > driveTransforms
The current cartesian drive goals. Must be of size links.size().
Definition: CartesianDrive.h:97
Vector vmin
If set, overrides the robot's default velocity limits.
Definition: CartesianDrive.h:110
Real positionTolerance
IK will maintained up to these tolerances. Default 1e-3.
Definition: CartesianDrive.h:83
int ikSolveIters
IK solver will terminate when the solver meets this number of iterations.
Definition: CartesianDrive.h:89
Class defining kinematic and dynamic state of a robot, with commonly used functions. Inherits from RobotKinematics3D.
Definition: RobotDynamics3D.h:32
std::vector< int > activeDofs
Definition: CartesianDrive.h:106
std::vector< IKGoal > ikGoals
Definition: CartesianDrive.h:103
void Init(const Config &q, const std::vector< int > &links)
Definition: CartesianDrive.cpp:30