Kinematic Families

All classes to support kinematic families. More...

Classes
class	KDL::Chain
	This class encapsulates a serial kinematic interconnection structure. It is built out of segments. More...
class	KDL::ChainFkSolverAcc
	This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...
class	KDL::ChainFkSolverPos
	This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...
class	KDL::ChainFkSolverPos_recursive
class	KDL::ChainFkSolverVel
	This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
class	KDL::ChainFkSolverVel_recursive
class	KDL::ChainHdSolver_Vereshchagin
	Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 1989. This class creates an instance of the hybrid dynamics solver. The solver analytically calculates the joint space constraint torques and acceleration in a chain when a constraint force(s) is applied to the chain's end-effector (task space / cartesian space). In the robotics literature, this algorithm is also known under the following names: Acceleration Constrained Hybrid Dynamics (ACHD) and Popov-Vereshchagin solver. More...
class	KDL::ChainIkSolverAcc
	This abstract class encapsulates the inverse acceleration solver for a KDL::Chain. More...
class	KDL::ChainIkSolverPos
	This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
class	KDL::ChainIkSolverPos_LMA
	Solver for the inverse position kinematics that uses Levenberg-Marquardt. More...
class	KDL::ChainIkSolverPos_NR
class	KDL::ChainIkSolverPos_NR_JL
class	KDL::ChainIkSolverVel
	This abstract class encapsulates the inverse velocity solver for a KDL::Chain. More...
class	KDL::ChainIkSolverVel_pinv
class	KDL::ChainIkSolverVel_pinv_givens
class	KDL::ChainIkSolverVel_pinv_nso
class	KDL::ChainIkSolverVel_wdls
class	KDL::Joint
	This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...
class	KDL::Segment
	This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments. More...
class	KDL::Tree
	This class encapsulates a tree kinematic interconnection structure. It is built out of segments. More...
class	KDL::TreeFkSolverPos
	This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...
class	KDL::TreeFkSolverPos_recursive
class	KDL::TreeIkSolverPos
	This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
class	KDL::TreeIkSolverPos_NR_JL
class	KDL::TreeIkSolverPos_Online
class	KDL::TreeIkSolverVel
	This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...

Detailed Description

All classes to support kinematic families.

The Kinematic Families classes range from the basic building blocks (KDL::Joint and KDL::Segment) and their interconnected kinematic structures (KDL::Chain and KDL::Tree), to the solver algorithms for the kinematics and dynamics of particular kinematic families.

A kinematic family is a set of kinematic structures that have similar properties, such as the same interconnection topology, the same numerical or analytical solver algorithms, etc. Different members of the same kinematic family differ only by the concrete values of their kinematic and dynamic properties (link lengths, mass, etc.).

Each kinematic structure is built from one or more Segments (KDL::Segment). A KDL::Chain is a serial connection of these segments; a KDL:Tree is a tree-structured interconnection; and a KDL:Graph is a kinematic structure with a general graph topology. (The current implementation supports only KDL::Chain.)

A KDL::Segment contains a KDL::Joint and an offset frame ("link length", defined by a KDL::Frame), that represents the geometric pose between the KDL::Joint on the previous segment and its own KDL::Joint.

A list of all the classes is available on the modules page: Kinematic Families