Data struct that encompasses the abstract representation of an arm pose. More...

#include <gait_abstract_pose.h>

Public Member Functions
	AbstractArmPose (bool left=true)
	Default constructor.

void	reset (bool left=true)
	Reset function.

void	setPose (double ext, double angX, double angY)
	Set the abstract pose (directly set the abstract pose parameters)

void	setPoseMirrored (double ext, double angX, double angY)
	Set the abstract pose in mirror mode (directly set the abstract pose parameters if this is the left arm, or mirror the pose if this is the right arm)

void	setLinkLength (double length)
	Set the link length used for pose conversions.

void	setFromJointPose (const JointArmPose &pose)
	Set the abstract arm pose to a given joint arm pose.

void	setFromInversePose (const InverseArmPose &pose)
	Set the abstract arm pose to a given inverse arm pose.

void	fromJointAngles (double shoulderPitch, double shoulderRoll, double elbowPitch)
	Set the pose of the arm to the pose defined by the given joint angles.

void	getJointAngles (double &shoulderPitch, double &shoulderRoll, double &elbowPitch) const
	Calculate the joint angles corresponding to the current abstract arm pose.

Public Attributes
CommonArmData	cad
	Data that is shared by all arm pose representations.

double	extension
	Extension of the arm (in the range `[0,1]`, 0 = Fully extended, 1 = Fully contracted)

double	angleX
	Orientation angle of the arm axis about the positive x axis (3rd ZYX Euler angle, angleZ is zero)

double	angleY
	Orientation angle of the arm axis about the positive y axis (2nd ZYX Euler angle, angleZ is zero)

Detailed Description

Data struct that encompasses the abstract representation of an arm pose.

The assumed joint order is shoulder pitch → shoulder roll → elbow pitch. The upper and lower arm links are assumed to be of the same length (i.e. cad.linkLength). The correct value of the link length must be set only if setFromInversePose() is used.

The documentation for this struct was generated from the following files:

/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/include/gait/util/gait_abstract_pose.h
/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/src/util/gait_abstract_pose.cpp

Public Member Functions

Public Attributes

Detailed Description