gait::JointArmPose Struct Reference

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

#include <gait_joint_pose.h>

Public Member Functions
	JointArmPose (bool left=true)
	Default constructor.
void	reset (bool left=true)
	Reset function.
void	setPose (double shoulderPitch, double shoulderRoll, double elbowPitch)
	Set the joint pose (directly set the joint pose parameters)
void	setPoseMirrored (double shoulderPitch, double shoulderRoll, double elbowPitch)
	Set the joint pose in mirror mode (directly set the joint 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	setFromInversePose (const InverseArmPose &pose)
	Set the joint arm pose to a given inverse arm pose.
void	setFromAbstractPose (const AbstractArmPose &pose)
	Set the joint 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
	Retrieve the joint angles corresponding to the current joint arm pose.
void	blendTowards (const JointArmPose &other, double b)
	Blend this joint pose towards another one by a given blending factor (b: 0 = Pose remains unchanged, 1 = Pose becomes other, (0,1) = Blending by linear interpolation between this and other)

Public Attributes
CommonArmData	cad
	Data that is shared by all arm pose representations.
double	shoulderPitch
	The shoulder pitch joint position.
double	shoulderRoll
	The shoulder roll joint position.
double	elbowPitch
	The elbow pitch joint position.

Detailed Description

Data struct that encompasses the joint 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.

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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_joint_pose.h
• /home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/motion/gait/src/util/gait_joint_pose.cpp