Detailed Description

A open-loop kinematic chain model, suitable to robotic manipulators.

Each link is parameterized with standard Denavit-Hartenberg standard parameterization [theta, d, a, alpha].

The orientation of the first link can be modified with setOriginPose(), which defaults to standard XYZ axes with +Z pointing upwards.

See also: CPose3D

Definition at line 70 of file CKinematicChain.h.

#include <mrpt/kinematics/CKinematicChain.h>

Inheritance diagram for mrpt::kinematics::CKinematicChain:

Public Member Functions
size_t	size () const
	Return the number of links. More...

void	clear ()
	Erases all links and leave the robot arm empty. More...

void	addLink (double theta, double d, double a, double alpha, bool is_prismatic)
	Appends a new link to the robotic arm, with the given Denavit-Hartenberg parameters (see TKinematicLink for further details) More...

void	removeLink (const size_t idx)
	Removes one link from the kinematic chain (0<=idx<N) More...

const TKinematicLink &	getLink (const size_t idx) const
	Get a ref to a given link (read-only) More...

TKinematicLink &	getLinkRef (const size_t idx)
	Get a ref to a given link (read-write) More...

void	setOriginPose (const mrpt::poses::CPose3D &new_pose)
	Can be used to define a first degree of freedom along a +Z axis which does not coincide with the global +Z axis. More...

const mrpt::poses::CPose3D &	getOriginPose () const
	Returns the current pose of the first link. More...

template<class VECTOR >
void	getConfiguration (VECTOR &v) const
	Get all the DOFs of the arm at once, returning them in a vector with all the "q_i" values, which can be interpreted as rotations (radians) or displacements (meters) depending on links being "revolute" or "prismatic". More...

template<class VECTOR >
void	setConfiguration (const VECTOR &v)
	Set all the DOFs of the arm at once, from a vector with all the "q_i" values, which are interpreted as rotations (radians) or displacements (meters) depending on links being "revolute" or "prismatic". More...

void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &inout_gl_obj, std::vector< mrpt::poses::CPose3D > *out_all_poses=nullptr) const
	Constructs a 3D representation of the kinematic chain, in its current state. More...

void	update3DObject (std::vector< mrpt::poses::CPose3D > *out_all_poses=nullptr) const
	Read getAs3DObject() for a description. More...

void	recomputeAllPoses (std::vector< mrpt::poses::CPose3D > &poses, const mrpt::poses::CPose3D &pose0=mrpt::poses::CPose3D()) const
	Go thru all the links of the chain and compute the global pose of each link. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Private Attributes
std::vector< mrpt::opengl::CRenderizable::Ptr >	m_last_gl_objects
	Smart pointers to the last objects for each link, as returned in getAs3DObject(), for usage within update3DObject() More...

std::vector< TKinematicLink >	m_links
	The links of this robot arm. More...

mrpt::poses::CPose3D	m_origin
	The pose of the first link. More...

RTTI stuff
using	Ptr = std::shared_ptr< CKinematicChain >

using	ConstPtr = std::shared_ptr< const CKinematicChain >

using	UniquePtr = std::unique_ptr< CKinematicChain >

using	ConstUniquePtr = std::unique_ptr< const CKinematicChain >

static mrpt::rtti::CLASSINIT	_init_CKinematicChain

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CKinematicChain"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::kinematics::CKinematicChain::ConstPtr = std::shared_ptr<const CKinematicChain >

Definition at line 72 of file CKinematicChain.h.

◆ ConstUniquePtr

using mrpt::kinematics::CKinematicChain::ConstUniquePtr = std::unique_ptr<const CKinematicChain >

Definition at line 72 of file CKinematicChain.h.

◆ Ptr

using mrpt::kinematics::CKinematicChain::Ptr = std::shared_ptr< CKinematicChain >

A type for the associated smart pointer

Definition at line 72 of file CKinematicChain.h.

◆ UniquePtr

using mrpt::kinematics::CKinematicChain::UniquePtr = std::unique_ptr< CKinematicChain >

Definition at line 72 of file CKinematicChain.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CKinematicChain::_GetBaseClass ( )

staticprotected

◆ addLink()

void CKinematicChain::addLink	(	double	theta,
		double	d,
		double	a,
		double	alpha,
		bool	is_prismatic
	)

Appends a new link to the robotic arm, with the given Denavit-Hartenberg parameters (see TKinematicLink for further details)

Definition at line 29 of file CKinematicChain.cpp.

◆ clear()

void CKinematicChain::clear ( )

Erases all links and leave the robot arm empty.

Definition at line 239 of file CKinematicChain.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::kinematics::CKinematicChain::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::kinematics::CKinematicChain::Create ( Args &&... args )

inlinestatic

Definition at line 72 of file CKinematicChain.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::kinematics::CKinematicChain::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 72 of file CKinematicChain.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::kinematics::CKinematicChain::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::kinematics::CKinematicChain::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 72 of file CKinematicChain.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ getAs3DObject()

void CKinematicChain::getAs3DObject	(	mrpt::opengl::CSetOfObjects::Ptr &	inout_gl_obj,
		std::vector< mrpt::poses::CPose3D > *	out_all_poses = `nullptr`
	)		const

Constructs a 3D representation of the kinematic chain, in its current state.

You can call update3DObject() to update the kinematic state of these OpenGL objects in the future, since an internal list of smart pointers to the constructed objects is kept internally. This is more efficient than calling this method again to build a new representation.

Parameters

[out] out_all_poses Optional output vector, will contain the poses in the format of recomputeAllPoses()

See also: update3DObject

Definition at line 161 of file CKinematicChain.cpp.

References addBar_A(), addBar_D(), ASSERT_, mrpt::opengl::stock_objects::CornerXYZSimple(), and mrpt::format().

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◆ getClassName()

static constexpr auto mrpt::kinematics::CKinematicChain::getClassName ( )

inlinestatic

Definition at line 72 of file CKinematicChain.h.

◆ getConfiguration()

template<class VECTOR >

void mrpt::kinematics::CKinematicChain::getConfiguration ( VECTOR & v ) const

inline

Get all the DOFs of the arm at once, returning them in a vector with all the "q_i" values, which can be interpreted as rotations (radians) or displacements (meters) depending on links being "revolute" or "prismatic".

The vector is automatically resized to the correct size (the number of links).

Template Parameters

VECTOR Can be any Eigen vector, mrpt::math::CVectorDouble, or std::vector<double>

Definition at line 121 of file CKinematicChain.h.

References m_links.

◆ getLink()

const TKinematicLink & CKinematicChain::getLink ( const size_t idx ) const

Get a ref to a given link (read-only)

Definition at line 42 of file CKinematicChain.cpp.

References ASSERT_BELOW_.

◆ getLinkRef()

TKinematicLink & CKinematicChain::getLinkRef ( const size_t idx )

Get a ref to a given link (read-write)

Definition at line 48 of file CKinematicChain.cpp.

References ASSERT_BELOW_.

◆ getOriginPose()

const mrpt::poses::CPose3D & CKinematicChain::getOriginPose ( ) const

Returns the current pose of the first link.

Definition at line 59 of file CKinematicChain.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CKinematicChain::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::kinematics::CKinematicChain::GetRuntimeClassIdStatic ( )

static

◆ recomputeAllPoses()

void CKinematicChain::recomputeAllPoses	(	std::vector< mrpt::poses::CPose3D > &	poses,
		const mrpt::poses::CPose3D &	pose0 = `mrpt::poses::CPose3D()`
	)		const

Go thru all the links of the chain and compute the global pose of each link.

The "ground" link pose "pose0" defaults to the origin of coordinates, but anything else can be passed as the optional argument. The returned vector has N+1 elements (N=number of links), since [0] contains the base frame, [1] the pose after the first link, and so on.

The "ground" link pose "pose0" defaults to the origin of coordinates, but anything else can be passed as the optional argument.

Definition at line 95 of file CKinematicChain.cpp.

References MRPT_UNUSED_PARAM, and R.

◆ removeLink()

void CKinematicChain::removeLink ( const size_t idx )

Removes one link from the kinematic chain (0<=idx<N)

Definition at line 36 of file CKinematicChain.cpp.

References ASSERT_BELOW_.

◆ serializeFrom() [1/2]

void CKinematicChain::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 70 of file CKinematicChain.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CKinematicChain::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 64 of file CKinematicChain.cpp.

◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeTo() [2/2]

void CKinematicChain::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 65 of file CKinematicChain.cpp.

◆ setConfiguration()

template<class VECTOR >

void mrpt::kinematics::CKinematicChain::setConfiguration ( const VECTOR & v )

inline

Set all the DOFs of the arm at once, from a vector with all the "q_i" values, which are interpreted as rotations (radians) or displacements (meters) depending on links being "revolute" or "prismatic".

Exceptions

std::exception If the size of the vector doesn't match the number of links.

Template Parameters

VECTOR Can be any Eigen vector, mrpt::math::CVectorDouble, or std::vector<double>

Definition at line 144 of file CKinematicChain.h.

References ASSERT_EQUAL_, m_links, and size().

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◆ setOriginPose()

void CKinematicChain::setOriginPose ( const mrpt::poses::CPose3D & new_pose )

Can be used to define a first degree of freedom along a +Z axis which does not coincide with the global +Z axis.

Definition at line 54 of file CKinematicChain.cpp.

◆ size()

size_t mrpt::kinematics::CKinematicChain::size ( ) const

inline

Return the number of links.

Definition at line 86 of file CKinematicChain.h.

References m_links.

Referenced by setConfiguration().

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◆ update3DObject()

void CKinematicChain::update3DObject ( std::vector< mrpt::poses::CPose3D > * out_all_poses = nullptr ) const

Read getAs3DObject() for a description.

Parameters

[out] out_all_poses Optional output vector, will contain the poses in the format of recomputeAllPoses()

Definition at line 194 of file CKinematicChain.cpp.

References ASSERTMSG_.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ _init_CKinematicChain

mrpt::rtti::CLASSINIT mrpt::kinematics::CKinematicChain::_init_CKinematicChain

staticprotected

Definition at line 72 of file CKinematicChain.h.

◆ className

constexpr const char* mrpt::kinematics::CKinematicChain::className = "CKinematicChain"

static

Definition at line 72 of file CKinematicChain.h.

◆ m_last_gl_objects

std::vector<mrpt::opengl::CRenderizable::Ptr> mrpt::kinematics::CKinematicChain::m_last_gl_objects

mutableprivate

Smart pointers to the last objects for each link, as returned in getAs3DObject(), for usage within update3DObject()

Definition at line 77 of file CKinematicChain.h.

◆ m_links

std::vector<TKinematicLink> mrpt::kinematics::CKinematicChain::m_links

private

The links of this robot arm.

Definition at line 80 of file CKinematicChain.h.

Referenced by getConfiguration(), setConfiguration(), and size().

◆ m_origin

mrpt::poses::CPose3D mrpt::kinematics::CKinematicChain::m_origin

private

The pose of the first link.

Definition at line 82 of file CKinematicChain.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::kinematics::CKinematicChain::runtimeClassId

staticprotected

Definition at line 72 of file CKinematicChain.h.

Detailed Description

Public Member Functions

Protected Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Function Documentation

◆ _GetBaseClass()

◆ addLink()

◆ clear()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getAs3DObject()

◆ getClassName()

◆ getConfiguration()

◆ getLink()

◆ getLinkRef()

◆ getOriginPose()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ recomputeAllPoses()

◆ removeLink()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setConfiguration()

◆ setOriginPose()

◆ size()

◆ update3DObject()

◆ writeToMatlab()

Member Data Documentation

◆ _init_CKinematicChain

◆ className

◆ m_last_gl_objects

◆ m_links

◆ m_origin

◆ runtimeClassId