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.
See also
- Wikipedia article containing the definition above
- http://en.wikipedia.org/wiki/Kinematics
Messages¶
- JointVelocitiesCollection
- Posture3DFloatCollection
- JointAccelerationsCollection
- TwistCollection
- CollisionGeometryCollection
- JointAnglesCollection
- LinearVelocitiesCollection
- SpatialAccelerationsCollection
- AngularVelocitiesCollection
- LinearAccelerationsCollection
- AngularAccelerationsCollection
- ObjectCollisionCollection
- JointVelocities
- Posture3DFloat
- JointAccelerations
- Twist
- JointAngles
- LinearVelocities
- SpatialAccelerations
- AngularVelocities
- LinearAccelerations
- AngularAccelerations
- ObjectCollision
- CollisionGeometry
Message JointVelocitiesCollection¶
-
class
rst.kinematics.
JointVelocitiesCollection
¶ Collection of
JointVelocities
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.JointVelocities
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message JointVelocitiesCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated JointVelocities element = 1;
}
Message Posture3DFloatCollection¶
-
class
rst.kinematics.
Posture3DFloatCollection
¶ Collection of
Posture3DFloat
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.Posture3DFloat
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message Posture3DFloatCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated Posture3DFloat element = 1;
}
Message JointAccelerationsCollection¶
-
class
rst.kinematics.
JointAccelerationsCollection
¶ Collection of
JointAccelerations
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.JointAccelerations
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message JointAccelerationsCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated JointAccelerations element = 1;
}
Message TwistCollection¶
-
class
rst.kinematics.
TwistCollection
¶ Collection of
Twist
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.Twist
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message TwistCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated Twist element = 1;
}
Message CollisionGeometryCollection¶
-
class
rst.kinematics.
CollisionGeometryCollection
¶ Collection of
CollisionGeometry
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.CollisionGeometry
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message CollisionGeometryCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated CollisionGeometry element = 1;
}
Message JointAnglesCollection¶
-
class
rst.kinematics.
JointAnglesCollection
¶ Collection of
JointAngles
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.JointAngles
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message JointAnglesCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated JointAngles element = 1;
}
Message LinearVelocitiesCollection¶
-
class
rst.kinematics.
LinearVelocitiesCollection
¶ Collection of
LinearVelocities
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.LinearVelocities
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message LinearVelocitiesCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated LinearVelocities element = 1;
}
Message SpatialAccelerationsCollection¶
-
class
rst.kinematics.
SpatialAccelerationsCollection
¶ Collection of
SpatialAccelerations
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.SpatialAccelerations
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message SpatialAccelerationsCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated SpatialAccelerations element = 1;
}
Message AngularVelocitiesCollection¶
-
class
rst.kinematics.
AngularVelocitiesCollection
¶ Collection of
AngularVelocities
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.AngularVelocities
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message AngularVelocitiesCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated AngularVelocities element = 1;
}
Message LinearAccelerationsCollection¶
-
class
rst.kinematics.
LinearAccelerationsCollection
¶ Collection of
LinearAccelerations
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.LinearAccelerations
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message LinearAccelerationsCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated LinearAccelerations element = 1;
}
Message AngularAccelerationsCollection¶
-
class
rst.kinematics.
AngularAccelerationsCollection
¶ Collection of
AngularAccelerations
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.AngularAccelerations
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message AngularAccelerationsCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated AngularAccelerations element = 1;
}
Message ObjectCollisionCollection¶
-
class
rst.kinematics.
ObjectCollisionCollection
¶ Collection of
ObjectCollision
instances.Auto-generated.
-
element
¶ Type: array of rst.kinematics.ObjectCollision
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message ObjectCollisionCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated ObjectCollision element = 1;
}
Message JointVelocities¶
-
class
rst.kinematics.
JointVelocities
¶ A sequence of joint velocities of multiple joints.
Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>
@create_collection
-
velocities
¶ Type: array of FLOAT32
Unit: rad/sec
Joint velocities
-
message JointVelocities {
/**
* Joint velocities
*/
// @unit(rad/sec)
repeated float velocities = 1 [packed=true];
}
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>
@constraint((len(.rotation) = 0) or (len(.rotation) = len(.position))) @constraint((len(.name) = 0) or (len(.name) = len(.position))) @create_collection
-
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.
-
rotation
¶ Type: array of rst.geometry.Rotation
Sequence of joint rotations in three-dimensional space.
Interpretation depends on information transmitted trough other channels.
The order of entries is significant since they are related to their
position
.
-
name
¶ Type: array of OCTET-VECTOR
Names of the individual positions stored in <Could not resolve reference to .posture> .
-
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;
/**
* Sequence of joint rotations in three-dimensional space.
*
* Interpretation depends on information transmitted trough other
* channels.
*
* The order of entries is significant since they are related to
* their @ref .position.
*/
repeated geometry.Rotation rotation = 3;
/**
* Names of the individual positions stored in @ref .posture.
*/
repeated bytes name = 4;
}
Message JointAccelerations¶
-
class
rst.kinematics.
JointAccelerations
¶ A sequence of joint accelerations of multiple joints.
Code author: Niels Dehio <ndehio@cor-lab.uni-bielefeld.de>
@create_collection
-
accelerations
¶ Type: array of FLOAT32
Unit: rad/sec^2
Joint accelerations.
Order is important and represents the described underlying physical object.
-
message JointAccelerations {
/**
* Joint accelerations.
*
* Order is important and represents the described underlying
* physical object.
*/
// @unit(rad/sec^2)
repeated float accelerations = 1 [packed=true];
}
Message Twist¶
-
class
rst.kinematics.
Twist
¶ Twist representation of Cartesian velocities.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
@create_collection
-
linear
¶ Type: rst.kinematics.LinearVelocities
3-dimensional translatory velocities.
-
angular
¶ Type: rst.kinematics.AngularVelocities
3-dimensional rotatory velocities.
-
message Twist {
/**
* 3-dimensional translatory velocities.
*/
required LinearVelocities linear = 1;
/**
* 3-dimensional rotatory velocities.
*/
required AngularVelocities angular = 2;
}
Message JointAngles¶
-
class
rst.kinematics.
JointAngles
¶ Joint angles of a set of multiple joints.
Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>
@create_collection
-
angles
¶ Type: array of FLOAT32
Unit: radian
Joint angles
-
message JointAngles {
/**
* Joint angles
*/
// @unit(radian)
repeated float angles = 1 [packed=true];
}
Message LinearVelocities¶
-
class
rst.kinematics.
LinearVelocities
¶ Cartesian 3-dimensional translatory velocities.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
@create_collection
-
x
¶ Type: FLOAT32
Translatory velocity along the x axis. @unit(meter / second)
-
y
¶ Type: FLOAT32
Translatory velocity along the y axis. @unit(meter / second)
-
z
¶ Type: FLOAT32
Translatory velocity along the z axis. @unit(meter / second)
-
message LinearVelocities {
/**
* Translatory velocity along the x axis.
*/
// @unit(meter / second)
required float x = 1;
/**
* Translatory velocity along the y axis.
*/
// @unit(meter / second)
required float y = 2;
/**
* Translatory velocity along the z axis.
*/
// @unit(meter / second)
required float z = 3;
}
Message SpatialAccelerations¶
-
class
rst.kinematics.
SpatialAccelerations
¶ Twist-like representation of Cartesian accelerations.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
@create_collection
-
linear
¶ Type: rst.kinematics.LinearAccelerations
3-dimensional translatory accelerations.
-
angular
¶ Type: rst.kinematics.AngularAccelerations
3-dimensional rotatory accelerations.
-
message SpatialAccelerations {
/**
* 3-dimensional translatory accelerations.
*/
required LinearAccelerations linear = 1;
/**
* 3-dimensional rotatory accelerations.
*/
required AngularAccelerations angular = 2;
}
Message AngularVelocities¶
-
class
rst.kinematics.
AngularVelocities
¶ Cartesian 3-dimensional rotational velocities.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
@create_collection
-
a
¶ Type: FLOAT32
Velocity around the x axis. @unit(rad / second)
-
b
¶ Type: FLOAT32
Velocity around the y axis. @unit(rad / second)
-
c
¶ Type: FLOAT32
Velocity around the z axis. @unit(rad / second)
-
message AngularVelocities {
/**
* Velocity around the x axis.
*/
// @unit(rad / second)
required float a = 1;
/**
* Velocity around the y axis.
*/
// @unit(rad / second)
required float b = 2;
/**
* Velocity around the z axis.
*/
// @unit(rad / second)
required float c = 3;
}
Message LinearAccelerations¶
-
class
rst.kinematics.
LinearAccelerations
¶ Cartesian 3-dimensional translatory velocities.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
@create_collection
-
x
¶ Type: FLOAT32
Translatory acceleration along the x axis. @unit(meter / second^2)
-
y
¶ Type: FLOAT32
Translatory acceleration along the y axis. @unit(meter / second^2)
-
z
¶ Type: FLOAT32
Translatory acceleration along the z axis. @unit(meter / second^2)
-
message LinearAccelerations {
/**
* Translatory acceleration along the x axis.
*/
// @unit(meter / second^2)
required float x = 1;
/**
* Translatory acceleration along the y axis.
*/
// @unit(meter / second^2)
required float y = 2;
/**
* Translatory acceleration along the z axis.
*/
// @unit(meter / second^2)
required float z = 3;
}
Message AngularAccelerations¶
-
class
rst.kinematics.
AngularAccelerations
¶ Cartesian 3-dimensional rotational accelerations.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
@create_collection
-
a
¶ Type: FLOAT32
Acceleration around the x axis. @unit(rad / second^2)
-
b
¶ Type: FLOAT32
Acceleration around the y axis. @unit(rad / second^2)
-
c
¶ Type: FLOAT32
Acceleration around the z axis. @unit(rad / second^2)
-
message AngularAccelerations {
/**
* Acceleration around the x axis.
*/
// @unit(rad / second^2)
required float a = 1;
/**
* Acceleration around the y axis.
*/
// @unit(rad / second^2)
required float b = 2;
/**
* Acceleration around the z axis.
*/
// @unit(rad / second^2)
required float c = 3;
}
Message ObjectCollision¶
-
class
rst.kinematics.
ObjectCollision
¶ Holds information about a collision between two objects.
Code author: Daniel Seidel <dseidel@techfak.uni-bielefeld.de>
@create_collection
-
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.
-
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>
@create_collection
-
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.
-
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;
}