Kinematics & Planning. More...
Classes | |
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... | |
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... | |
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.
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noexcept |
Multiply every element of the matrix with a scalar. Doesn't modify original matrix.
lhs | The matrix that will be used to multiplied. |
rhs | The scalar to multiply with. |
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noexcept |
Multiply every element of the matrix with a scalar. Doesn't modify original matrix.
lhs | lhs The scalar to multiply with. |
rhs | rhs The matrix that will be used to multiplied. |
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noexcept |
Add a scalar from every element of the matrix. Doesn't modify original matrix.
lhs | The matrix to base the addition on. |
rhs | The scalar to add. |
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noexcept |
Add a scalar from every element of the matrix. Doesn't modify original matrix.
lhs | lhs The scalar to add. |
rhs | rhs The matrix to subtract the scalar from. |
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noexcept |
Subtract a scalar from every element of the matrix. Doesn't modify original matrix.
lhs | lhs The matrix to subtract the scalard from. |
rhs | rhs The scalar to subtract. |
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noexcept |
Subtract a scalar from every element of the matrix. Doesn't modify original matrix.
lhs | The matrix to subtract the scalard from. |
rhs | The scalar to subtract. |
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noexcept |
Divide every element of the matrix with a scalar. Doesn't modify original matrix.
lhs | The matrix that will be divided. |
rhs | The scalar to divide with. |
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noexcept |
Divide every element of the matrix with a scalar. Doesn't modify original matrix.
lhs | The scalar to divide with. |
rhs | The matrix that will be divided. |
std::ostream& HLR::Kinematics::operator<< | ( | std::ostream & | os, |
const Matrix< T, m, n > & | mat | ||
) |
Output the matrix to an ostream.
os | The ostream that. |
mat | The matrix that contains. |