Basic RT components and utilities  315.15.0
Public Types | Public Member Functions | List of all members
OpenHRP::ForwardKinematicsService Interface Reference

import"ForwardKinematicsService.idl";

Public Types

typedef double position[3]
 

Public Member Functions

boolean selectBaseLink (in string linkname)
 select a link its position of the actual model coincides with that of the reference model. More...
 
boolean getReferencePose (in string linkname, out RTC::TimedDoubleSeq pose)
 get link pose of the reference model. More...
 
boolean getCurrentPose (in string linkname, out RTC::TimedDoubleSeq pose)
 get link pose of the actual model. More...
 
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...
 

Member Typedef Documentation

◆ position

typedef double OpenHRP::ForwardKinematicsService::position[3]

Member Function Documentation

◆ getCurrentPose()

boolean OpenHRP::ForwardKinematicsService::getCurrentPose ( in string  linkname,
out RTC::TimedDoubleSeq  pose 
)

get link pose of the actual model.

The actual model is computed from current joint angles.

Parameters
linknamelink name
posehomogeneous matrix of the link in the global coordinates
Returns
true if gotten successfully, false otherwise

◆ getReferencePose()

boolean OpenHRP::ForwardKinematicsService::getReferencePose ( in string  linkname,
out RTC::TimedDoubleSeq  pose 
)

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
linknamelink name
posehomogeneous matrix of the link in the global coordinates
Returns
true if gotten successfully, false otherwise

◆ getRelativeCurrentPosition()

boolean OpenHRP::ForwardKinematicsService::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

Parameters
linknameFromthe result is computed w.r.t. this link
linknameTothe point is fixed on this link
targetposition of the point wrt linknameTo
resultrelative position of the point
Returns
true if gotten successfully, false otherwise

◆ selectBaseLink()

boolean OpenHRP::ForwardKinematicsService::selectBaseLink ( in string  linkname)

select a link its position of the actual model coincides with that of the reference model.

Parameters
linknamelink name
Returns
true if selected successfully, false otherwise

The documentation for this interface was generated from the following file: