gait::InverseArmPose Struct Reference

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

#include <gait_inverse_pose.h>

Public Member Functions
	InverseArmPose (bool left=true)
	Default constructor.
void	reset (bool left=true)
	Reset function.
void	setPose ()
	Set the inverse pose (directly set the inverse pose parameters)
void	setPoseMirrored ()
	Set the inverse pose in mirror mode (directly set the inverse 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 inverse arm pose to a given joint arm pose.
void	setFromAbstractPose (const AbstractArmPose &pose)
	Set the inverse arm pose to a given abstract 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 inverse arm pose.

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

Detailed Description

Data struct that encompasses the inverse 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 the pose conversion functions are used.

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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_inverse_pose.h
• /home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/src/util/gait_inverse_pose.cpp