.. _package-rst-kinematics:
========================
Package rst.kinematics
========================
*Not documented*
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/corlab.css";
node [fontsize=11]
node [fontname="Arial"]
edge [fontsize=11]
edge [fontname="Arial"]
"7" [label=< | Posture3DFloat |
|
| Translation | position |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | ObjectCollision |
|
| CollisionGeometry | geometry |
| ASCII-STRING | object_1 |
| ASCII-STRING | object_2 |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | CollisionGeometry |
|
| Translation | contact_points |
>,shape=box,style=filled,fillcolor="white"];
"6" [label=< | Translation |
|
| FLOAT64 | x |
| FLOAT64 | y |
| FLOAT64 | z |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | ProprioceptionState |
|
| JointState | joints |
>,shape=box,style=filled,fillcolor="white"];
"1" [label=< | JointPositionState |
|
| JointState | joints |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | JointState |
|
| OCTET-VECTOR | name |
| FLOAT32 | value |
| FLOAT32 | stiffness |
| FLOAT32 | command |
| FLOAT32 | temperature |
>,shape=box,style=filled,fillcolor="white"];
"7":position -> "6" [];
"4":geometry -> "5" [];
"5":contact_points -> "6" [];
"3":joints -> "2" [];
"1":joints -> "2" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`JointPositionState `
* :ref:`ProprioceptionState `
* :ref:`JointState `
* :ref:`ObjectCollision `
* :ref:`CollisionGeometry `
* :ref:`Posture3DFloat `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-kinematics-jointpositionstate:
Message JointPositionState
--------------------------
.. container:: message-rst-kinematics-jointpositionstate-multi
.. container:: message-rst-kinematics-jointpositionstate-documentation
.. py:class:: rst.kinematics.JointPositionState
Joint position data of a robot seen from its head.
.. todo::
What does that mean?
.. codeauthor:: TODO
.. py:attribute:: joints
:type: array of :py:class:`rst.kinematics.JointState`
*Not documented*
.. container:: message-rst-kinematics-jointpositionstate-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/JointPositionState.proto
:lines: 13-17
:language: protobuf
:emphasize-lines: 3-3
.. _message-rst-kinematics-proprioceptionstate:
Message ProprioceptionState
---------------------------
.. container:: message-rst-kinematics-proprioceptionstate-multi
.. container:: message-rst-kinematics-proprioceptionstate-documentation
.. py:class:: rst.kinematics.ProprioceptionState
Proprioceptive (joint) data of a robot.
.. codeauthor:: Johannes Wienke
@deprecated "This type has been deprecated in favor of and
.. py:attribute:: joints
:type: array of :py:class:`rst.kinematics.JointState`
*Not documented*
.. container:: message-rst-kinematics-proprioceptionstate-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/ProprioceptionState.proto
:lines: 15-19
:language: protobuf
:emphasize-lines: 3-3
.. _message-rst-kinematics-jointstate:
Message JointState
------------------
.. container:: message-rst-kinematics-jointstate-multi
.. container:: message-rst-kinematics-jointstate-documentation
.. py:class:: rst.kinematics.JointState
A message that contains data about one joint of a robot.
.. codeauthor:: TODO
@deprecated This type has been deprecated in favor of
rst.kinematics.JointAngles and rst.devices.
.. py:attribute:: name
:type: :py:class:`OCTET-VECTOR`
TODO ASCII name of the joint
.. py:attribute:: value
:type: :py:class:`FLOAT32`
**Unit**: TODO
A value representing the joint's position.
.. py:attribute:: stiffness
:type: :py:class:`FLOAT32`
**Unit**: TODO
Stiffness of the joint.
.. py:attribute:: command
:type: :py:class:`FLOAT32`
**Unit**: TODO
The value sent as the last command.
.. py:attribute:: temperature
:type: :py:class:`FLOAT32`
**Unit**: degree-celsius
The temperature of the joint.
.. container:: message-rst-kinematics-jointstate-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/JointState.proto
:lines: 12-43
:language: protobuf
:emphasize-lines: 6-6,12-12,18-18,24-24,30-30
.. _message-rst-kinematics-objectcollision:
Message ObjectCollision
-----------------------
.. container:: message-rst-kinematics-objectcollision-multi
.. container:: message-rst-kinematics-objectcollision-documentation
.. py:class:: rst.kinematics.ObjectCollision
Holds information about a collision between two objects.
.. codeauthor:: Daniel Seidel
.. py:attribute:: geometry
:type: :py:class:`rst.kinematics.CollisionGeometry`
Geometry of the collision, such as list of contact points.
.. py:attribute:: object_1
:type: :py:class:`ASCII-STRING`
Name of the first object involved in the collision.
.. py:attribute:: object_2
:type: :py:class:`ASCII-STRING`
Name of the second object involved in the collision.
.. container:: message-rst-kinematics-objectcollision-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/ObjectCollision.proto
:lines: 12-29
:language: protobuf
:emphasize-lines: 6-6,11-11,16-16
.. _message-rst-kinematics-collisiongeometry:
Message CollisionGeometry
-------------------------
.. container:: message-rst-kinematics-collisiongeometry-multi
.. container:: message-rst-kinematics-collisiongeometry-documentation
.. py:class:: rst.kinematics.CollisionGeometry
Geometric description of a collision between objects.
.. codeauthor:: Daniel Seidel
.. py:attribute:: contact_points
:type: array of :py:class:`rst.geometry.Translation`
**Constraint**: ``len(value) > 0``
Contact points of the collision in world coordinate system.
Order of contact points is not significant.
.. container:: message-rst-kinematics-collisiongeometry-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/CollisionGeometry.proto
:lines: 12-22
:language: protobuf
:emphasize-lines: 9-9
.. _message-rst-kinematics-posture3dfloat:
Message Posture3DFloat
----------------------
.. container:: message-rst-kinematics-posture3dfloat-multi
.. container:: message-rst-kinematics-posture3dfloat-documentation
.. py:class:: rst.kinematics.Posture3DFloat
A set of positions forming a posture of an articulated thing.
The kinematic structure, which in most cases is required for a
useful interpretation, has to be transmitted through other
channels.
.. codeauthor:: Jan Moringen
.. py:attribute:: position
:type: array of :py:class:`rst.geometry.Translation`
Sequence of joint positions in three-dimensional space.
Interpretation depends on information transmitted trough other
channels.
The order of entries is significant since the interpretations
of individual positions depends on their respective position
within the sequence.
.. container:: message-rst-kinematics-posture3dfloat-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/kinematics/Posture3DFloat.proto
:lines: 16-30
:language: protobuf
:emphasize-lines: 13-13