import"ForwardKinematicsService.idl";
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boolean | selectBaseLink (in string linkname) |
| select a link its position of the actual model coincides with that of the reference model. More...
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boolean | getReferencePose (in string linkname, out RTC::TimedDoubleSeq pose) |
| get link pose of the reference model. More...
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boolean | getCurrentPose (in string linkname, out RTC::TimedDoubleSeq pose) |
| get link pose of the actual model. More...
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boolean | getRelativeCurrentPosition (in string linknameFrom, in string linknameTo, in position target, out position result) |
| get current position of a point on a link expressed in the other link frame More...
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◆ position
typedef double OpenHRP::ForwardKinematicsService::position[3] |
◆ getCurrentPose()
boolean OpenHRP::ForwardKinematicsService::getCurrentPose |
( |
in string |
linkname, |
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out RTC::TimedDoubleSeq |
pose |
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) |
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get link pose of the actual model.
The actual model is computed from current joint angles.
- Parameters
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linkname | link name |
pose | homogeneous matrix of the link in the global coordinates |
- Returns
- true if gotten successfully, false otherwise
◆ getReferencePose()
boolean OpenHRP::ForwardKinematicsService::getReferencePose |
( |
in string |
linkname, |
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out RTC::TimedDoubleSeq |
pose |
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) |
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get link pose of the reference model.
The reference model is computed from reference joint angles and reference position/orientation of the root link.
- Parameters
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linkname | link name |
pose | homogeneous matrix of the link in the global coordinates |
- Returns
- true if gotten successfully, false otherwise
◆ getRelativeCurrentPosition()
boolean OpenHRP::ForwardKinematicsService::getRelativeCurrentPosition |
( |
in string |
linknameFrom, |
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in string |
linknameTo, |
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in position |
target, |
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out position |
result |
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) |
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get current position of a point on a link expressed in the other link frame
- Parameters
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linknameFrom | the result is computed w.r.t. this link |
linknameTo | the point is fixed on this link |
target | position of the point wrt linknameTo |
result | relative position of the point |
- Returns
- true if gotten successfully, false otherwise
◆ selectBaseLink()
boolean OpenHRP::ForwardKinematicsService::selectBaseLink |
( |
in string |
linkname | ) |
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select a link its position of the actual model coincides with that of the reference model.
- Parameters
-
- Returns
- true if selected successfully, false otherwise
The documentation for this interface was generated from the following file: