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...

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.

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.

Classes

Functions

Detailed Description

Function Documentation