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
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

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, mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t *out_all_poses=nullptr) const
	Constructs a 3D representation of the kinematic chain, in its current state. More...

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

void	recomputeAllPoses (mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &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
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. 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 >

static mrpt::utils::CLASSINIT	_init_CKinematicChain

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CKinematicChain"

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

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

static mrpt::utils::CObject *	CreateObject ()

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

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

virtual mrpt::utils::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.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 72 of file CKinematicChain.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::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 30 of file CKinematicChain.cpp.

◆ clear()

void CKinematicChain::clear ( )

Erases all links and leave the robot arm empty.

Definition at line 252 of file CKinematicChain.cpp.

◆ clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 72 of file CKinematicChain.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::kinematics::CKinematicChain::CreateObject ( )

static

◆ getAs3DObject()

void CKinematicChain::getAs3DObject	(	mrpt::opengl::CSetOfObjects::Ptr &	inout_gl_obj,
		mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t *	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 172 of file CKinematicChain.cpp.

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

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◆ 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 43 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 49 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 60 of file CKinematicChain.cpp.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

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

static

◆ operator delete() [1/3]

void mrpt::kinematics::CKinematicChain::operator delete ( void * ptr )

inlinenoexcept

Definition at line 72 of file CKinematicChain.h.

◆ operator delete() [2/3]

void mrpt::kinematics::CKinematicChain::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 72 of file CKinematicChain.h.

◆ operator delete() [3/3]

void mrpt::kinematics::CKinematicChain::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 72 of file CKinematicChain.h.

◆ operator delete[]()

void mrpt::kinematics::CKinematicChain::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 72 of file CKinematicChain.h.

◆ operator new() [1/3]

static void* mrpt::kinematics::CKinematicChain::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 72 of file CKinematicChain.h.

◆ operator new() [2/3]

void* mrpt::kinematics::CKinematicChain::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 72 of file CKinematicChain.h.

◆ operator new() [3/3]

void* mrpt::kinematics::CKinematicChain::operator new ( size_t size )

inline

Definition at line 72 of file CKinematicChain.h.

◆ operator new[]()

void* mrpt::kinematics::CKinematicChain::operator new[] ( size_t size )

inline

Definition at line 72 of file CKinematicChain.h.

◆ readFromStream()

void CKinematicChain::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 82 of file CKinematicChain.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ recomputeAllPoses()

void CKinematicChain::recomputeAllPoses	(	mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &	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 106 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 37 of file CKinematicChain.cpp.

References ASSERT_BELOW_.

◆ 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 55 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 ( mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t * 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 206 of file CKinematicChain.cpp.

References ASSERTMSG_, mrpt::opengl::CCylinder::setHeight(), and mrpt::opengl::CRenderizable::setPose().

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◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

◆ writeToStream()

void CKinematicChain::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 68 of file CKinematicChain.cpp.

Member Data Documentation

◆ _init_CKinematicChain

mrpt::utils::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::utils::TRuntimeClassId mrpt::kinematics::CKinematicChain::runtimeClassId

staticprotected

Definition at line 72 of file CKinematicChain.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Member Function Documentation

◆ _GetBaseClass()

◆ addLink()

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ getAs3DObject()

◆ getConfiguration()

◆ getLink()

◆ getLinkRef()

◆ getOriginPose()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ recomputeAllPoses()

◆ removeLink()

◆ setConfiguration()

◆ setOriginPose()

◆ size()

◆ update3DObject()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CKinematicChain

◆ className

◆ m_last_gl_objects

◆ m_links

◆ m_origin

◆ runtimeClassId