orocos_kdl
models
kukaLWR_DHnew.cpp
Go to the documentation of this file.
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// Copyright (C) 2009 Ruben Smits <ruben dot smits 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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#include <
chain.hpp
>
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#include "
models.hpp
"
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namespace
KDL
{
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Chain
KukaLWR_DHnew
(){
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Chain
kukaLWR_DHnew;
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//joint 0
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kukaLWR_DHnew.
addSegment
(
Segment
(
Joint
(
Joint::None
),
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Frame::DH_Craig1989
(0.0, 0.0, 0.31, 0.0)
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));
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//joint 1
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kukaLWR_DHnew.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH_Craig1989
(0.0, 1.5707963, 0.0, 0.0),
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Frame::DH_Craig1989
(0.0, 1.5707963, 0.0, 0.0).Inverse()*
RigidBodyInertia
(2,
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Vector::Zero
(),
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RotationalInertia
(0.0,0.0,0.0115343,0.0,0.0,0.0))));
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//joint 2
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kukaLWR_DHnew.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH_Craig1989
(0.0, -1.5707963, 0.4, 0.0),
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Frame::DH_Craig1989
(0.0, -1.5707963, 0.4, 0.0).Inverse()*
RigidBodyInertia
(2,
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Vector
(0.0,-0.3120511,-0.0038871),
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RotationalInertia
(-0.5471572,-0.0000302,-0.5423253,0.0,0.0,0.0018828))));
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//joint 3
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kukaLWR_DHnew.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH_Craig1989
(0.0, -1.5707963, 0.0, 0.0),
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Frame::DH_Craig1989
(0.0, -1.5707963, 0.0, 0.0).Inverse()*
RigidBodyInertia
(2,
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Vector
(0.0,-0.0015515,0.0),
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RotationalInertia
(0.0063507,0.0,0.0107804,0.0,0.0,-0.0005147))));
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//joint 4
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kukaLWR_DHnew.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH_Craig1989
(0.0, 1.5707963, 0.39, 0.0),
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Frame::DH_Craig1989
(0.0, 1.5707963, 0.39, 0.0).Inverse()*
RigidBodyInertia
(2,
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Vector
(0.0,0.5216809,0.0),
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RotationalInertia
(-1.0436952,0.0,-1.0392780,0.0,0.0,0.0005324))));
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//joint 5
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kukaLWR_DHnew.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH_Craig1989
(0.0, 1.5707963, 0.0, 0.0),
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Frame::DH_Craig1989
(0.0, 1.5707963, 0.0, 0.0).Inverse()*
RigidBodyInertia
(2,
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Vector
(0.0,0.0119891,0.0),
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RotationalInertia
(0.0036654,0.0,0.0060429,0.0,0.0,0.0004226))));
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//joint 6
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kukaLWR_DHnew.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH_Craig1989
(0.0, -1.5707963, 0.0, 0.0),
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Frame::DH_Craig1989
(0.0, -1.5707963, 0.0, 0.0).Inverse()*
RigidBodyInertia
(2,
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Vector
(0.0,0.0080787,0.0),
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RotationalInertia
(0.0010431,0.0,0.0036376,0.0,0.0,0.0000101))));
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//joint 7
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kukaLWR_DHnew.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::Identity
(),
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RigidBodyInertia
(2,
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Vector::Zero
(),
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RotationalInertia
(0.000001,0.0,0.0001203,0.0,0.0,0.0))));
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return
kukaLWR_DHnew;
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}
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}
chain.hpp
KDL::Frame::Identity
static Frame Identity()
Definition:
frames.inl:700
KDL::Joint::RotZ
@ RotZ
Definition:
joint.hpp:47
KDL::Vector::Zero
static Vector Zero()
Definition:
frames.inl:138
KDL::RigidBodyInertia
6D Inertia of a rigid body
Definition:
rigidbodyinertia.hpp:37
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::Vector
A concrete implementation of a 3 dimensional vector class.
Definition:
frames.hpp:162
KDL::RotationalInertia
Definition:
rotationalinertia.hpp:34
KDL::Joint::None
@ None
Definition:
joint.hpp:47
KDL::Frame::DH_Craig1989
static Frame DH_Craig1989(double a, double alpha, double d, double theta)
Definition:
frames.cpp:78
KDL::Segment
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body ine...
Definition:
segment.hpp:46
KDL::KukaLWR_DHnew
Chain KukaLWR_DHnew()
Definition:
kukaLWR_DHnew.cpp:26
KDL::Chain::addSegment
void addSegment(const Segment &segment)
Definition:
chain.cpp:53
models.hpp
KDL::Joint
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Definition:
joint.hpp:45
KDL::Chain
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
Definition:
chain.hpp:35
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