Public Member Functions
virtual	~KinematicBody () noexcept
	Destructor cleans up body (and any child pointers that are still owned). More...

Static Public Member Functions
static std::shared_ptr< KinematicBody >	createX5 ()
	Creates a body with the kinematics of an X5 actuator. More...

static std::shared_ptr< KinematicBody >	createX5Link (float length, float twist)
	Creates a body with the kinematics of a tube link between two X5 actuators. More...

static std::shared_ptr< KinematicBody >	createGenericLink (const Eigen::Vector3f &com, const Eigen::Matrix4f &output)
	Create a generic kinematic body that acts as a fixed transform between an input and output. More...

Constructor & Destructor Documentation

virtual hebi::kinematics::KinematicBody::~KinematicBody ( )

inlinevirtualnoexcept

Destructor cleans up body (and any child pointers that are still owned).

Member Function Documentation

std::shared_ptr< KinematicBody > hebi::kinematics::KinematicBody::createX5 ( )

static

Creates a body with the kinematics of an X5 actuator.

std::shared_ptr< KinematicBody > hebi::kinematics::KinematicBody::createX5Link	(	float	length,
		float	twist
	)

static

Creates a body with the kinematics of a tube link between two X5 actuators.

Parameters

length	The center-to-center distance between the actuator rotational axes.
twist	The rotation (in radians) between the actuator axes of rotation. Note that a 0 radian rotation will result in a z-axis offset between the two actuators, and a pi radian rotation will result in the actuator interfaces to this tube being in the same plane, but the rotational axes being anti-parallel.

std::shared_ptr< KinematicBody > hebi::kinematics::KinematicBody::createGenericLink	(	const Eigen::Vector3f &	com,
		const Eigen::Matrix4f &	output
	)

static

Create a generic kinematic body that acts as a fixed transform between an input and output.

Parameters

com	3x1 vector of the center of mass location, relative to the input of the kinematic body.
output	4x4 matrix of the homogeneous transform to the output frame, relative to the input frame of the kinematic body.

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