Package rst.kinematics
Kinematics is the branch of classical mechanics that describes the
motion of bodies (objects) and systems (groups of objects) without
consideration of the forces that cause the motion.
Messages
clearer: should be made invisible via css
Message Posture3DFloat
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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>
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position
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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.
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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;
}
Message JointAngles
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class rst.kinematics.JointAngles
Joint angles of a set of multiple joints.
Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>
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angles
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Unit: radian
Joint angles
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message JointAngles {
/**
* Joint angles
*/
// @unit(radian)
repeated float angles = 1 [packed=true];
}