132 lines
5.1 KiB
C++
132 lines
5.1 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Copyright (C) 2011 Erwin Aertbelien <Erwin dot Aertbelien at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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/**
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* \defgroup KDL Kinematics and Dynamics Library
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* \ingroup ROBOT
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*
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* This is the API reference of the
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* <a href="http://www.orocos.org/kdl">Kinematics and Dynamics
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* Library</a> (KDL), a sub-project of <a
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* href="http://www.orocos.org">Orocos</a>, but that can be used
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* independently of Orocos. KDL offers different kinds of
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* functionality, grouped in the following Modules:
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* - \subpage geomprim
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* - \ref KinematicFamily : functionality to build kinematic chains and access their kinematic and dynamic properties, such as e.g. Forward and Inverse kinematics and dynamics.
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* - \ref Motion : functionality to specify motion trajectories of frames and kinematic chains, such as e.g. Trapezoidal Velocity profiles.
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*
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*
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**/
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/**
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* \page geomprim Geometric Primitives
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* \section Introduction
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* Geometric primitives are represented by the following classes.
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* - KDL::Vector
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* - KDL::Rotation
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* - KDL::Frame
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* - KDL::Twist
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* - KDL::Wrench
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*
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* \par Twist and Wrench transformations
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* 3 different types of transformations do exist for the twists
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* and wrenches.
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*
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* \verbatim
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* 1) Frame * Twist or Frame * Wrench :
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* this transforms both the velocity/force reference point
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* and the basis to which the twist/wrench are expressed.
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* 2) Rotation * Twist or Rotation * Wrench :
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* this transforms the basis to which the twist/wrench are
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* expressed, but leaves the reference point intact.
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* 3) Twist.RefPoint(v_base_AB) or Wrench.RefPoint(v_base_AB)
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* this transforms only the reference point. v is expressed
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* in the same base as the twist/wrench and points from the
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* old reference point to the new reference point.
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* \endverbatim
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*
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*\warning
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* Efficienty can be improved by writing p2 = A*(B*(C*p1))) instead of
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* p2=A*B*C*p1
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*
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* \par PROPOSED NAMING CONVENTION FOR FRAME-like OBJECTS
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*
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* \verbatim
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* A naming convention of objects of the type defined in this file :
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* (1) Frame : F...
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* Rotation : R ...
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* (2) Twist : T ...
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* Wrench : W ...
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* Vector : V ...
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* This prefix is followed by :
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* for category (1) :
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* F_A_B : w.r.t. frame A, frame B expressed
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* ( each column of F_A_B corresponds to an axis of B,
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* expressed w.r.t. frame A )
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* in mathematical convention :
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* A
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* F_A_B == F
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* B
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*
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* for category (2) :
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* V_B : a vector expressed w.r.t. frame B
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*
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* This can also be prepended by a name :
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* e.g. : temporaryV_B
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*
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* With this convention one can write :
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*
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* F_A_B = F_B_A.Inverse();
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* F_A_C = F_A_B * F_B_C;
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* V_B = F_B_C * V_C; // both translation and rotation
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* V_B = R_B_C * V_C; // only rotation
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* \endverbatim
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*
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* \par CONVENTIONS FOR WHEN USED WITH ROBOTS :
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*
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* \verbatim
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* world : represents the frame ([1 0 0,0 1 0,0 0 1],[0 0 0]')
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* mp : represents mounting plate of a robot
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* (i.e. everything before MP is constructed by robot manufacturer
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* everything after MP is tool )
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* tf : represents task frame of a robot
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* (i.e. frame in which motion and force control is expressed)
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* sf : represents sensor frame of a robot
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* (i.e. frame at which the forces measured by the force sensor
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* are expressed )
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*
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* Frame F_world_mp=...;
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* Frame F_mp_sf(..)
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* Frame F_mp_tf(,.)
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*
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* Wrench are measured in sensor frame SF, so one could write :
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* Wrench_tf = F_mp_tf.Inverse()* ( F_mp_sf * Wrench_sf );
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* \endverbatim
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*
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* \par CONVENTIONS REGARDING UNITS :
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* Typically we use the standard S.I. units: N, m, sec.
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*
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*/
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/* This code doesn't seems to be integrated with freecad - \ref KDLTK : the interface code to integrate KDL into the Orocos <a href="http://www.orocos.org/rtt/">Real-Time Toolkit</a> (RTT). */
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