Kinematics & Planning. More...

Namespaces
	Planners
	Kinematics & Planning :: Planners.

	RV2AJ
	Kinematics & Planning :: Mitsubishi RV2-AJ.

Classes
class	ConcurrentQueue
	A thread safe queue that supports both synchronous pop and asynchronous pop. It's not allowed to use pop and async_pop together. More...

struct	EnvironmentObject
	Describes an object that is detected in the environment. More...

class	Kinematics
	Contains the functions to compute the forward and inverse kinematics for the mitsubishi rv-2aj robot arm. More...

class	Matrix
	Create a matrix with numerical values. More...

class	ObjectMoveHandler
	Interface to send commands to the Kinematics component Executes actions on the robotarm based in the incoming messages. More...

class	PointCloudHandler
	Concrete handle on the robot using the ROS interface. More...

class	RobotController
	This class contains the main logic of the robotic arm. It handles the calculation of robotic path and handles moving the robot arm using the driver. More...

class	RobotDriverHandler
	Concrete handle on the robot using the ROS interface. More...

Enumerations
enum	RobotControllerState { RobotControllerState::init, RobotControllerState::idle, RobotControllerState::moving_to_ready, RobotControllerState::moving_to_cup, RobotControllerState::picking_up_cup_stage1, RobotControllerState::picking_up_cup_stage2, RobotControllerState::moving_cup, RobotControllerState::waiting_for_confirmation, RobotControllerState::stopped }
	The current state of the robot controller. More...

enum	ArmError { ArmError::safety_concern, ArmError::no_path_found, ArmError::driver_error }
	Enum containing possible reasons for the robot arm not being able to succesfully execute the specified action. More...

Functions
template<typename T , std::size_t m, std::size_t n>
constexpr Matrix< T, m, n >	operator+ (const Matrix< T, m, n > &lhs, T rhs) noexcept
	Add a scalar from every element of the matrix. Doesn't modify original matrix. More...

template<typename T , std::size_t m, std::size_t n>
constexpr Matrix< T, m, n >	operator+ (T lhs, const Matrix< T, m, n > &rhs) noexcept
	Add a scalar from every element of the matrix. Doesn't modify original matrix. More...

template<typename T , std::size_t m, std::size_t n>
constexpr Matrix< T, m, n >	operator- (const Matrix< T, m, n > &lhs, T rhs) noexcept
	Subtract a scalar from every element of the matrix. Doesn't modify original matrix. More...

template<typename T , std::size_t m, std::size_t n>
constexpr Matrix< T, m, n >	operator- (T lhs, const Matrix< T, m, n > &rhs) noexcept
	Subtract a scalar from every element of the matrix. Doesn't modify original matrix. More...

template<typename T , std::size_t m, std::size_t n>
constexpr Matrix< T, m, n >	operator* (const Matrix< T, m, n > &lhs, T rhs) noexcept
	Multiply every element of the matrix with a scalar. Doesn't modify original matrix. More...

template<typename T , std::size_t m, std::size_t n>
constexpr Matrix< T, m, n >	operator* (T lhs, const Matrix< T, m, n > &rhs) noexcept
	Multiply every element of the matrix with a scalar. Doesn't modify original matrix. More...

template<typename T , std::size_t m, std::size_t n>
constexpr Matrix< T, m, n >	operator/ (const Matrix< T, m, n > &lhs, T rhs) noexcept
	Divide every element of the matrix with a scalar. Doesn't modify original matrix. More...

template<typename T , std::size_t m, std::size_t n>
constexpr Matrix< T, m, n >	operator/ (T lhs, const Matrix< T, m, n > &rhs) noexcept
	Divide every element of the matrix with a scalar. Doesn't modify original matrix. More...

template<typename T , std::size_t m, std::size_t n>
std::ostream &	operator<< (std::ostream &os, const Matrix< T, m, n > &mat)
	Output the matrix to an ostream. More...

Detailed Description

Kinematics & Planning.

The Kinematics namespace is used for components related to inverse kinematics, trajectory calculation (aka planning) and Mitsubishi RV-2AJ control via a driver. There is also a simulation for these components.

Enumeration Type Documentation

enum HLR::Kinematics::ArmError

strong

Enum containing possible reasons for the robot arm not being able to succesfully execute the specified action.

Enumerator
safety_concern	The arm has stopped due to a safety concern.
no_path_found	The arm has stopped because no valid path was found to execute the given action.
driver_error	The arm couldn't be moved because there is an underlying driver error.

enum HLR::Kinematics::RobotControllerState

strong

The current state of the robot controller.

Enumerator
init	Currently initializing.
idle	Is idle waiting to pick up a cup.
moving_to_ready	Robot arm is moving to ready position,.
moving_to_cup	Robot arm is moving to cup.
picking_up_cup_stage1	Robot arm is moving gripper to surround the cup.
picking_up_cup_stage2	Robot arm is moving to lift cup.
moving_cup	Robot arm is moving the cup.
waiting_for_confirmation	Robot arm.
stopped	Robot arm is currently stopped.

Function Documentation

template<typename T , std::size_t m, std::size_t n>

constexpr Matrix<T, m, n> HLR::Kinematics::operator*	(	const Matrix< T, m, n > &	lhs,
		T	rhs
	)

noexcept

Multiply every element of the matrix with a scalar. Doesn't modify original matrix.

Parameters

lhs	The matrix that will be used to multiplied.
rhs	The scalar to multiply with.

Returns: A new matrix with the modified elements.

template<typename T , std::size_t m, std::size_t n>

constexpr Matrix<T, m, n> HLR::Kinematics::operator*	(	T	lhs,
		const Matrix< T, m, n > &	rhs
	)

noexcept

Multiply every element of the matrix with a scalar. Doesn't modify original matrix.

Parameters

lhs	lhs The scalar to multiply with.
rhs	rhs The matrix that will be used to multiplied.

Returns: A new matrix with the modified elements.

template<typename T , std::size_t m, std::size_t n>

constexpr Matrix<T, m, n> HLR::Kinematics::operator+	(	const Matrix< T, m, n > &	lhs,
		T	rhs
	)

noexcept

Add a scalar from every element of the matrix. Doesn't modify original matrix.

Parameters

lhs	The matrix to base the addition on.
rhs	The scalar to add.

Returns: A new matrix with the modified elements.

template<typename T , std::size_t m, std::size_t n>

constexpr Matrix<T, m, n> HLR::Kinematics::operator+	(	T	lhs,
		const Matrix< T, m, n > &	rhs
	)

noexcept

Add a scalar from every element of the matrix. Doesn't modify original matrix.

Parameters

lhs	lhs The scalar to add.
rhs	rhs The matrix to subtract the scalar from.

Returns: A new matrix with the modified elements.

template<typename T , std::size_t m, std::size_t n>

constexpr Matrix<T, m, n> HLR::Kinematics::operator-	(	const Matrix< T, m, n > &	lhs,
		T	rhs
	)

noexcept

Subtract a scalar from every element of the matrix. Doesn't modify original matrix.

Parameters

lhs	lhs The matrix to subtract the scalard from.
rhs	rhs The scalar to subtract.

Returns: A new matrix with the modified elements.

template<typename T , std::size_t m, std::size_t n>

constexpr Matrix<T, m, n> HLR::Kinematics::operator-	(	T	lhs,
		const Matrix< T, m, n > &	rhs
	)

noexcept

Subtract a scalar from every element of the matrix. Doesn't modify original matrix.

Parameters

lhs	The matrix to subtract the scalard from.
rhs	The scalar to subtract.

Returns: A new matrix with the modified elements.

template<typename T , std::size_t m, std::size_t n>

constexpr Matrix<T, m, n> HLR::Kinematics::operator/	(	const Matrix< T, m, n > &	lhs,
		T	rhs
	)

noexcept

Divide every element of the matrix with a scalar. Doesn't modify original matrix.

Parameters

lhs	The matrix that will be divided.
rhs	The scalar to divide with.

Returns: A new matrix with the modified elements.

template<typename T , std::size_t m, std::size_t n>

constexpr Matrix<T, m, n> HLR::Kinematics::operator/	(	T	lhs,
		const Matrix< T, m, n > &	rhs
	)

noexcept

Divide every element of the matrix with a scalar. Doesn't modify original matrix.

Parameters

lhs	The scalar to divide with.
rhs	The matrix that will be divided.

Returns: A new matrix with the modified elements.

template<typename T , std::size_t m, std::size_t n>

std::ostream& HLR::Kinematics::operator<<	(	std::ostream &	os,
		const Matrix< T, m, n > &	mat
	)

Output the matrix to an ostream.

Parameters

os	The ostream that.
mat	The matrix that contains.

Returns: The ostream where the matrix has been outputted to.

Namespaces

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

Function Documentation