Package rst.dynamics¶
In the field of physics, the study of the causes of motion and changes in motion is dynamics. In other words the study of forces and why objects are in motion. Dynamics includes the study of the effect of torques on motion.
Messages¶
Message JointImpedanceCollection¶
-
class
rst.dynamics.
JointImpedanceCollection
¶ Collection of
JointImpedance
instances.Auto-generated.
-
element
¶ Type: array of rst.dynamics.JointImpedance
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message JointImpedanceCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated JointImpedance element = 1;
}
Message MotorCurrentsCollection¶
-
class
rst.dynamics.
MotorCurrentsCollection
¶ Collection of
MotorCurrents
instances.Auto-generated.
-
element
¶ Type: array of rst.dynamics.MotorCurrents
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message MotorCurrentsCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated MotorCurrents element = 1;
}
Message ForcesCollection¶
-
class
rst.dynamics.
ForcesCollection
¶ Collection of
Forces
instances.Auto-generated.
-
element
¶ Type: array of rst.dynamics.Forces
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message ForcesCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated Forces element = 1;
}
Message WrenchCollection¶
-
class
rst.dynamics.
WrenchCollection
¶ Collection of
Wrench
instances.Auto-generated.
-
element
¶ Type: array of rst.dynamics.Wrench
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message WrenchCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated Wrench element = 1;
}
Message PressuresCollection¶
-
class
rst.dynamics.
PressuresCollection
¶ Collection of
Pressures
instances.Auto-generated.
-
element
¶ Type: array of rst.dynamics.Pressures
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message PressuresCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated Pressures element = 1;
}
Message TorquesCollection¶
-
class
rst.dynamics.
TorquesCollection
¶ Collection of
Torques
instances.Auto-generated.
-
element
¶ Type: array of rst.dynamics.Torques
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message TorquesCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated Torques element = 1;
}
Message JointTorquesCollection¶
-
class
rst.dynamics.
JointTorquesCollection
¶ Collection of
JointTorques
instances.Auto-generated.
-
element
¶ Type: array of rst.dynamics.JointTorques
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message JointTorquesCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated JointTorques element = 1;
}
Message JointImpedance¶
-
class
rst.dynamics.
JointImpedance
¶ Constraint:
len(.stiffness) == len(.damping)
Stiffness and damping values of multiple joints.
Code author: Christian Emmerich <cemmeric@techfak.uni-bielefeld.de>
Todo
what is SI unit of rotatory damping?
@create_collection
message JointImpedance {
/**
* Stiffness values of multiple joints.
*
* (Same joints and same order as @ref .damping)
*/
// @unit(TODO)
repeated float stiffness = 1;
/**
* Damping values of multiple joints
*
* (Same joints and same order as @ref .stiffness)
*/
// @unit(newton-meter / rad)
repeated float damping = 2;
}
Message MotorCurrents¶
-
class
rst.dynamics.
MotorCurrents
¶ Represents measurements of motor currents for a robot’s joints.
Code author: Michael Wojtynek <mwojtynek@cor-lab.uni-bielefeld.de>
@create_collection
-
currents
¶ Type: array of FLOAT32
Unit: ampere
motor currents of the robot’s drives
-
message MotorCurrents {
/**
* motor currents of the robot's drives
*/
// @unit(ampere)
repeated float currents = 1 [packed=true];
}
Message Wrench¶
-
class
rst.dynamics.
Wrench
¶ Interaction force, composed of Cartesian translational forces and Cartesian rotational forces.
Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>
@create_collection
-
forces
¶ Type: rst.dynamics.Forces
3-dimensional translatory forces.
-
torques
¶ Type: rst.dynamics.Torques
3-dimensional rotatory forces (moment).
-
message Wrench {
/**
* 3-dimensional translatory forces.
*/
required Forces forces = 1;
/**
* 3-dimensional rotatory forces (moment).
*/
required Torques torques = 2;
}
Message Forces¶
-
class
rst.dynamics.
Forces
¶ Cartesian 3-dimensional translatory force.
Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>
@create_collection
-
x
¶ Type: FLOAT32
Unit: newton
Translatory force along the x axis.
-
y
¶ Type: FLOAT32
Unit: newton
Translatory force along the y axis.
-
z
¶ Type: FLOAT32
Unit: newton
Translatory force along the z axis.
-
message Forces {
/**
* Translatory force along the x axis.
*/
// @unit(newton)
required float x = 1;
/**
* Translatory force along the y axis.
*/
// @unit(newton)
required float y = 2;
/**
* Translatory force along the z axis.
*/
// @unit(newton)
required float z = 3;
}
Message Pressures¶
-
class
rst.dynamics.
Pressures
¶ A sequence of pressure measurements (e.g. in pneumatic systems).
Code author: Arne Nordmann <anordman@techfak.uni-bielefeld.de>
@create_collection
-
pressures
¶ Type: array of FLOAT64
Unit: pascal
-
message Pressures {
// @unit(pascal)
repeated double pressures = 1;
}
Message Torques¶
-
class
rst.dynamics.
Torques
¶ Cartesian 3-dimensional rotational force (moment).
To specify torques in joint space, use
JointTorques
instead.Code author: Arne Nordmann <anordman@techfak.uni-bielefeld.de>
Todo
can we be more specific about the axes here?
@create_collection
-
a
¶ Type: FLOAT32
Unit: newton-meter
Torque around the x axis.
-
b
¶ Type: FLOAT32
Unit: newton-meter
Torque around the y axis.
-
c
¶ Type: FLOAT32
Unit: newton-meter
Torque around the z axis.
-
message Torques {
/**
* Torque around the x axis.
*/
// @unit(newton-meter)
required float a = 1;
/**
* Torque around the y axis.
*/
// @unit(newton-meter)
required float b = 2;
/**
* Torque around the z axis.
*/
// @unit(newton-meter)
required float c = 3;
}
Message JointTorques¶
-
class
rst.dynamics.
JointTorques
¶ A sequence of joint torques of multiple joints.
Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>
@create_collection
-
torques
¶ Type: array of FLOAT32
Unit: newton-meter
List of torques with one value per joint. Order is important and represents the joints of the described system.
-
message JointTorques {
/**
* List of torques with one value per joint. Order is important and
* represents the joints of the described system.
*/
// @unit(newton-meter)
repeated float torques = 1 [packed=true];
}