Package rst.kinematics

Not documented

Messages

• JointPositionState
• ProprioceptionState
• JointState
• ObjectCollision
• CollisionGeometry
• Posture3DFloat

clearer: should be made invisible via css

Message JointPositionState

class rst.kinematics.JointPositionState

Joint position data of a robot seen from its head.

Todo

What does that mean?

Code author: TODO

joints

Type :array of rst.kinematics.JointState

Not documented

Download this file

message JointPositionState {

    repeated JointState joints = 1;

}

Message ProprioceptionState

class rst.kinematics.ProprioceptionState

Proprioceptive (joint) data of a robot.

Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

@deprecated “This type has been deprecated in favor of <Could not resolve reference to rst.kinematics.JointAngles> and <Could not resolve reference to rst.devices.”>

joints

Type :array of rst.kinematics.JointState

Not documented

Download this file

message ProprioceptionState {

    repeated JointState joints = 1;

}

Message JointState

class rst.kinematics.JointState

A message that contains data about one joint of a robot.

Code author: TODO

@deprecated This type has been deprecated in favor of rst.kinematics.JointAngles and rst.devices.

name

Type :OCTET-VECTOR

TODO ASCII name of the joint

value

Type :FLOAT32

Unit: TODO

A value representing the joint’s position.

stiffness

Type :FLOAT32

Unit: TODO

Stiffness of the joint.

command

Type :FLOAT32

Unit: TODO

The value sent as the last command.

temperature

Type :FLOAT32

Unit: degree-celsius

The temperature of the joint.

Download this file

message JointState {

    /**
     * TODO ASCII name of the joint
     */
    required bytes name = 1;

    /**
     * A value representing the joint's position.
     */
    // @unit(TODO)
    required float value = 2;

    /**
     * Stiffness of the joint.
     */
    // @unit(TODO)
    optional float stiffness = 3;

    /**
     * The value sent as the last command.
     */
    // @unit(TODO)
    optional float command = 4;

    /**
     * The temperature of the joint.
     */
    // @unit(degree-celsius)
    optional float temperature = 5;

}

Message ObjectCollision

class rst.kinematics.ObjectCollision

Holds information about a collision between two objects.

Code author: Daniel Seidel <dseidel@techfak.uni-bielefeld.de>

geometry

Type :rst.kinematics.CollisionGeometry

Geometry of the collision, such as list of contact points.

object_1

Type :ASCII-STRING

Name of the first object involved in the collision.

object_2

Type :ASCII-STRING

Name of the second object involved in the collision.

Download this file

message ObjectCollision {

    /**
     * Geometry of the collision, such as list of contact points.
     */
    optional CollisionGeometry geometry = 1;

    /**
     * Name of the first object involved in the collision.
     */
    optional string object_1 = 2;

    /**
     * Name of the second object involved in the collision.
     */
    optional string object_2 = 3;

}

Message CollisionGeometry

class rst.kinematics.CollisionGeometry

Geometric description of a collision between objects.

Code author: Daniel Seidel <dseidel@techfak.uni-bielefeld.de>

contact_points

Type :array of rst.geometry.Translation

Constraint: len(value) > 0

Contact points of the collision in world coordinate system.

Order of contact points is not significant.

Download this file

message CollisionGeometry {

    /**
     * Contact points of the collision in world coordinate system.
     *
     * Order of contact points is not significant.
     */
    // @constraint(len(value) > 0)
    repeated geometry.Translation contact_points = 1;

}

Message Posture3DFloat

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.

Code author: Jan Moringen <jmoringe@techfak.uni-bielefeld.de>

position

Type :array of 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.

Download this file

message Posture3DFloat {

    /**
     * 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.
     */
    repeated geometry.Translation position = 2;

}