机器人起始点（StartPoint）类，继承自 Object。 StartPoint class representing the base or root of a robotic kinematic chain, inheriting from Object. More...

#include <kinematic.hpp>

Inheritance diagram for LibXR::Kinematic::StartPoint< Scalar >:

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Collaboration diagram for LibXR::Kinematic::StartPoint< Scalar >:

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Public Member Functions
	StartPoint (Inertia< Scalar > &inertia)
	构造 `StartPoint` 物体对象。 Constructs a `StartPoint` object.

void	CalcForward ()
	计算当前状态的前向运动学（FK）。 Computes forward kinematics (FK) for the current state.

void	CalcTargetForward ()
	计算目标状态的前向运动学（FK）。 Computes forward kinematics (FK) for the target state.

void	CalcInertia ()
	计算机器人系统的惯性分布。 Computes the inertia distribution of the robotic system.

void	CalcCenterOfMass ()
	计算机器人系统的质心。 Computes the center of mass (CoM) of the robotic system.

Public Member Functions inherited from LibXR::Kinematic::Object< Scalar >
	Object (Inertia< Scalar > &inertia)
	使用惯性参数构造 `Object` 对象。 Constructs an `Object` using inertia parameters.

void	SetPosition (const Position< Scalar > &pos)
	设置物体的位置信息。 Sets the position of the object.

void	SetQuaternion (const Quaternion< Scalar > &quat)
	设置物体的旋转信息（四元数表示）。 Sets the rotation of the object using a quaternion.

virtual void	CalcBackward ()

Static Public Member Functions
static ErrorCode	InertiaForeachFunLoopStart (Joint< Scalar > joint, Joint< Scalar > parent)
	计算起始点惯性（首次遍历）。 Computes the inertia of the start point (first traversal).

static ErrorCode	InertiaForeachFunLoop (Joint< Scalar > joint, Joint< Scalar > parent)
	计算机器人系统的惯性（后续遍历）。 Computes the inertia of the robotic system (subsequent traversal).

static ErrorCode	ForwardForeachFunLoop (Joint< Scalar > *joint, StartPoint< Scalar > &start)
	计算当前状态的前向运动学（FK）。 Computes forward kinematics (FK) for the current state.

static ErrorCode	TargetForwardForeachFunLoop (Joint< Scalar > *joint, StartPoint< Scalar > &start)
	计算目标状态的前向运动学（FK）。 Computes forward kinematics (FK) for the target state.

static ErrorCode	CenterOfMassForeachFunLoop (Joint< Scalar > *joint, StartPoint< Scalar > &start)
	计算系统的质心。 Computes the center of mass of the system.

Data Fields
CenterOfMass< Scalar >	cog
	机器人质心。 The center of mass of the robot.

Data Fields inherited from LibXR::Kinematic::Object< Scalar >
List	joints
	物体的关节列表。 List of joints associated with the object.

Joint< Scalar > *	parent = nullptr
	指向父关节的指针。 Pointer to the parent joint.

Param	param_
	物体参数。 Object parameters.

Runtime	runtime_
	物体运行时状态。 Object runtime data.

Additional Inherited Members
Public Types inherited from LibXR::Kinematic::Object< Scalar >
typedef List::Node< Joint< Scalar > * >	Link
	关节链接类型。 Type for linking joints.

Detailed Description

template<typename Scalar>
class LibXR::Kinematic::StartPoint< Scalar >

机器人起始点（StartPoint）类，继承自 Object。 StartPoint class representing the base or root of a robotic kinematic chain, inheriting from Object.

该类作为运动学链的起始点，负责计算前向运动学、逆向运动学、质心计算以及惯性计算等关键功能。 This class serves as the starting point of a kinematic chain and is responsible for computing forward kinematics, inverse kinematics, center of mass calculation, and inertia computation.

Template Parameters

Scalar 角度和位置的存储类型。 The storage type for angles and positions.

Definition at line 552 of file kinematic.hpp.

Constructor & Destructor Documentation

◆ StartPoint()

template<typename Scalar >

LibXR::Kinematic::StartPoint< Scalar >::StartPoint ( Inertia< Scalar > & inertia )

inline

构造 StartPoint 物体对象。 Constructs a StartPoint object.

Parameters

inertia 物体的惯性参数。 The inertia parameters of the object.

Definition at line 563 of file kinematic.hpp.

563: Object<Scalar>(inertia) {}

LibXR::min

constexpr auto min(T1 a, T2 b) -> typename std::common_type< T1, T2 >::type

计算两个数的最小值

Definition libxr_def.hpp:161

Member Function Documentation

◆ CalcCenterOfMass()

template<typename Scalar >

void LibXR::Kinematic::StartPoint< Scalar >::CalcCenterOfMass ( )

inline

计算机器人系统的质心。 Computes the center of mass (CoM) of the robotic system.

该函数遍历所有关节，并利用惯性计算系统整体质心位置。 This function traverses all joints and uses inertia calculations to determine the overall center of mass.

Definition at line 620 of file kinematic.hpp.

  {
    this->cog = CenterOfMass<Scalar>(this->param_.inertia, this->runtime_.state);
    this->joints.Foreach(CenterOfMassForeachFunLoop, *this);
  }

◆ CalcForward()

template<typename Scalar >

void LibXR::Kinematic::StartPoint< Scalar >::CalcForward ( )

inline

计算当前状态的前向运动学（FK）。 Computes forward kinematics (FK) for the current state.

该函数遍历所有关节，根据当前状态计算其空间变换矩阵。 This function traverses all joints and calculates their spatial transformations based on the current state.

Definition at line 573 of file kinematic.hpp.

  {
    this->runtime_.target = this->runtime_.state;
    auto fun = [&](Joint<Scalar> *joint) { return ForwardForeachFunLoop(joint, *this); };
    this->joints.template Foreach<Joint<Scalar> *>(fun);
  }

◆ CalcInertia()

template<typename Scalar >

void LibXR::Kinematic::StartPoint< Scalar >::CalcInertia ( )

inline

计算机器人系统的惯性分布。 Computes the inertia distribution of the robotic system.

该函数遍历所有关节，并根据质心和旋转惯性矩计算整体惯性分布。 This function traverses all joints and calculates the overall inertia distribution based on the center of mass and rotational inertia matrix.

Definition at line 604 of file kinematic.hpp.

  {
    Joint<Scalar> *res = nullptr;
    auto fun = [&](Joint<Scalar> *joint)
    { return InertiaForeachFunLoopStart(joint, res); };
    this->joints.template Foreach<Joint<Scalar> *>(fun);
  }

◆ CalcTargetForward()

template<typename Scalar >

void LibXR::Kinematic::StartPoint< Scalar >::CalcTargetForward ( )

inline

计算目标状态的前向运动学（FK）。 Computes forward kinematics (FK) for the target state.

该函数用于目标位置调整，确保所有关节正确响应目标状态的变化。 This function is used for target position adjustments, ensuring all joints correctly respond to changes in the target state.

Definition at line 588 of file kinematic.hpp.

  {
    this->runtime_.target = this->runtime_.state;
    auto fun = [&](Joint<Scalar> *joint)
    { return TargetForwardForeachFunLoop(joint, *this); };
    this->joints.template Foreach<Joint<Scalar> *>(fun);
  }

◆ CenterOfMassForeachFunLoop()

template<typename Scalar >

static ErrorCode LibXR::Kinematic::StartPoint< Scalar >::CenterOfMassForeachFunLoop	(	Joint< Scalar > *	joint,
		StartPoint< Scalar > &	start
	)

inlinestatic

计算系统的质心。 Computes the center of mass of the system.

Definition at line 740 of file kinematic.hpp.

  {
    CenterOfMass<Scalar> child_cog(joint->child->param_.inertia,
                                   joint->child->runtime_.state);
 
    start.cog += child_cog;
 
    joint->child->joints.Foreach(TargetForwardForeachFunLoop, start);
 
    return ErrorCode::OK;
  }

◆ ForwardForeachFunLoop()

template<typename Scalar >

static ErrorCode LibXR::Kinematic::StartPoint< Scalar >::ForwardForeachFunLoop	(	Joint< Scalar > *	joint,
		StartPoint< Scalar > &	start
	)

inlinestatic

计算当前状态的前向运动学（FK）。 Computes forward kinematics (FK) for the current state.

Definition at line 680 of file kinematic.hpp.

  {
    Transform<Scalar> t_joint(joint->parent->runtime_.state + joint->param_.parent2this);
 
    joint->runtime_.state = t_joint;
 
    Transform<Scalar> t_child(
        joint->runtime_.state.rotation * joint->runtime_.state_angle,
        joint->runtime_.state.translation);
 
    t_child = t_child + joint->param_.this2child;
 
    joint->child->runtime_.state = t_child;
    joint->runtime_.state_axis = joint->runtime_.state.rotation * joint->param_.axis;
    joint->runtime_.target_axis = joint->runtime_.state_axis;
 
    joint->runtime_.target = joint->runtime_.state;
    joint->runtime_.target_angle = joint->runtime_.state_angle;
    joint->child->runtime_.target = joint->child->runtime_.state;
 
    auto fun = [&](Joint<Scalar> *child_joint)
    { return ForwardForeachFunLoop(child_joint, start); };
 
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun);
 
    return ErrorCode::OK;
  }

◆ InertiaForeachFunLoop()

template<typename Scalar >

static ErrorCode LibXR::Kinematic::StartPoint< Scalar >::InertiaForeachFunLoop	(	Joint< Scalar > *	joint,
		Joint< Scalar > *	parent
	)

inlinestatic

计算机器人系统的惯性（后续遍历）。 Computes the inertia of the robotic system (subsequent traversal).

Definition at line 658 of file kinematic.hpp.

  {
    auto new_inertia =
        joint->child->param_.inertia
            .Translate(parent->runtime_.state.translation -
                       joint->child->runtime_.state.translation)
            .Rotate(parent->runtime_.state.rotation / joint->runtime_.state.rotation);
 
    parent->runtime_.inertia = new_inertia + parent->runtime_.inertia;
 
    auto fun_loop = [&](Joint<Scalar> *child_joint)
    { return InertiaForeachFunLoop(child_joint, joint); };
 
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun_loop);
 
    return ErrorCode::OK;
  }

◆ InertiaForeachFunLoopStart()

template<typename Scalar >

static ErrorCode LibXR::Kinematic::StartPoint< Scalar >::InertiaForeachFunLoopStart	(	Joint< Scalar > *	joint,
		Joint< Scalar > *	parent
	)

inlinestatic

计算起始点惯性（首次遍历）。 Computes the inertia of the start point (first traversal).

Definition at line 630 of file kinematic.hpp.

  {
    UNUSED(parent);
    joint->runtime_.inertia = joint->child->param_.inertia
                                  .Translate(joint->runtime_.state.translation -
                                             joint->child->runtime_.state.translation)
                                  .Rotate(joint->child->runtime_.state.rotation /
                                          joint->runtime_.state.rotation);
 
    joint->runtime_.inertia = Inertia<Scalar>::Rotate(
        joint->runtime_.inertia, Eigen::Quaternion<Scalar>(joint->runtime_.state_angle));
 
    auto fun_loop = [&](Joint<Scalar> *child_joint)
    { return InertiaForeachFunLoop(child_joint, joint); };
 
    auto fun_start = [&](Joint<Scalar> *child_joint)
    { return InertiaForeachFunLoopStart(child_joint, joint); };
 
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun_loop);
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun_start);
 
    return ErrorCode::OK;
  }

◆ TargetForwardForeachFunLoop()

template<typename Scalar >

static ErrorCode LibXR::Kinematic::StartPoint< Scalar >::TargetForwardForeachFunLoop	(	Joint< Scalar > *	joint,
		StartPoint< Scalar > &	start
	)

inlinestatic

计算目标状态的前向运动学（FK）。 Computes forward kinematics (FK) for the target state.

Definition at line 712 of file kinematic.hpp.

  {
    Transform<Scalar> t_joint(joint->parent->runtime_.target + joint->param_.parent2this);
 
    joint->runtime_.target = t_joint;
 
    Transform<Scalar> t_child(
        joint->runtime_.target.rotation * joint->runtime_.target_angle,
        joint->runtime_.target.translation);
 
    t_child = t_child + joint->param_.this2child;
    joint->child->runtime_.target = t_child;
 
    joint->runtime_.target_axis = joint->runtime_.target.rotation * joint->param_.axis;
 
    auto fun = [&](Joint<Scalar> *child_joint)
    { return TargetForwardForeachFunLoop(child_joint, start); };
 
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun);
 
    return ErrorCode::OK;
  }

Field Documentation

◆ cog

template<typename Scalar >

CenterOfMass<Scalar> LibXR::Kinematic::StartPoint< Scalar >::cog

机器人质心。 The center of mass of the robot.

Definition at line 555 of file kinematic.hpp.

The documentation for this class was generated from the following file:

src/utils/kinematic.hpp

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StartPoint()

Member Function Documentation

◆ CalcCenterOfMass()

◆ CalcForward()

◆ CalcInertia()

◆ CalcTargetForward()

◆ CenterOfMassForeachFunLoop()

◆ ForwardForeachFunLoop()

◆ InertiaForeachFunLoop()

◆ InertiaForeachFunLoopStart()

◆ TargetForwardForeachFunLoop()

Field Documentation

◆ cog