.. _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"]
"11" [label=< | Posture3DFloat |
|
| Translation | position |
>,shape=box,style=filled,fillcolor="white"];
"12" [label=< | Translation |
|
| FLOAT64 | x |
| FLOAT64 | y |
| FLOAT64 | z |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"8" [label=< | Twist |
|
| LinearVelocities | linear |
| AngularVelocities | angular |
>,shape=box,style=filled,fillcolor="white"];
"10" [label=< | AngularVelocities |
|
| FLOAT32 | a |
| FLOAT32 | b |
| FLOAT32 | c |
>,shape=box,style=filled,fillcolor="white"];
"9" [label=< | LinearVelocities |
|
| FLOAT32 | x |
| FLOAT32 | y |
| FLOAT32 | z |
>,shape=box,style=filled,fillcolor="white"];
"7" [label=< | ProprioceptionState |
|
| JointState | joints |
>,shape=box,style=filled,fillcolor="white"];
"6" [label=< | JointVelocities |
|
| FLOAT32 | velocities |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | SpatialAccelerations |
|
| LinearAccelerations | linear |
| AngularAccelerations | angular |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | AngularAccelerations |
|
| FLOAT32 | a |
| FLOAT32 | b |
| FLOAT32 | c |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | LinearAccelerations |
|
| FLOAT32 | x |
| FLOAT32 | y |
| FLOAT32 | z |
>,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"];
"11":position -> "12" [];
"8":angular -> "10" [];
"8":linear -> "9" [];
"7":joints -> "2" [];
"3":angular -> "5" [];
"3":linear -> "4" [];
"1":joints -> "2" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`JointPositionState `
* :ref:`SpatialAccelerations `
* :ref:`AngularAccelerations `
* :ref:`LinearAccelerations `
* :ref:`JointVelocities `
* :ref:`ProprioceptionState `
* :ref:`JointState `
* :ref:`Twist `
* :ref:`AngularVelocities `
* :ref:`LinearVelocities `
* :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-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/JointPositionState.proto
:lines: 13-17
:language: protobuf
:emphasize-lines: 3-3
.. _message-rst-kinematics-spatialaccelerations:
Message SpatialAccelerations
----------------------------
.. container:: message-rst-kinematics-spatialaccelerations-multi
.. container:: message-rst-kinematics-spatialaccelerations-documentation
.. py:class:: rst.kinematics.SpatialAccelerations
Twist representation of Cartesian velocities.
.. codeauthor:: Johannes Wienke
.. codeauthor:: Leon Ziegler
.. py:attribute:: linear
:type: :py:class:`rst.kinematics.LinearAccelerations`
3-dimensional translatory accelerations.
.. py:attribute:: angular
:type: :py:class:`rst.kinematics.AngularAccelerations`
3-dimensional rotatory accelerations.
.. container:: message-rst-kinematics-spatialaccelerations-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/SpatialAccelerations.proto
:lines: 14-26
:language: protobuf
:emphasize-lines: 6-6,11-11
.. _message-rst-kinematics-angularaccelerations:
Message AngularAccelerations
----------------------------
.. container:: message-rst-kinematics-angularaccelerations-multi
.. container:: message-rst-kinematics-angularaccelerations-documentation
.. py:class:: rst.kinematics.AngularAccelerations
Cartesian 3-dimensional rotational accelerations.
.. codeauthor:: Johannes Wienke
.. codeauthor:: Leon Ziegler
.. py:attribute:: a
:type: :py:class:`FLOAT32`
Acceleration around the x axis.
@unit(rad / second^2)
.. py:attribute:: b
:type: :py:class:`FLOAT32`
Acceleration around the y axis.
@unit(rad / second^2)
.. py:attribute:: c
:type: :py:class:`FLOAT32`
Acceleration around the z axis.
@unit(rad / second^2)
.. container:: message-rst-kinematics-angularaccelerations-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/AngularAccelerations.proto
:lines: 11-31
:language: protobuf
:emphasize-lines: 7-7,13-13,19-19
.. _message-rst-kinematics-linearaccelerations:
Message LinearAccelerations
---------------------------
.. container:: message-rst-kinematics-linearaccelerations-multi
.. container:: message-rst-kinematics-linearaccelerations-documentation
.. py:class:: rst.kinematics.LinearAccelerations
Cartesian 3-dimensional translatory velocities.
.. codeauthor:: Johannes Wienke
.. codeauthor:: Leon Ziegler
.. py:attribute:: x
:type: :py:class:`FLOAT32`
Translatory acceleration along the x axis.
@unit(meter / second^2)
.. py:attribute:: y
:type: :py:class:`FLOAT32`
Translatory acceleration along the y axis.
@unit(meter / second^2)
.. py:attribute:: z
:type: :py:class:`FLOAT32`
Translatory acceleration along the z axis.
@unit(meter / second^2)
.. container:: message-rst-kinematics-linearaccelerations-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/LinearAccelerations.proto
:lines: 11-31
:language: protobuf
:emphasize-lines: 7-7,13-13,19-19
.. _message-rst-kinematics-jointvelocities:
Message JointVelocities
-----------------------
.. container:: message-rst-kinematics-jointvelocities-multi
.. container:: message-rst-kinematics-jointvelocities-documentation
.. py:class:: rst.kinematics.JointVelocities
A sequence of joint velocities of multiple joints.
.. codeauthor:: Arne Nordmann
.. py:attribute:: velocities
:type: array of :py:class:`FLOAT32`
**Unit**: rad-per-second
Joint velocities
.. container:: message-rst-kinematics-jointvelocities-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/JointVelocities.proto
:lines: 10-18
:language: protobuf
:emphasize-lines: 7-7
.. _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-0.11-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-0.11-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-twist:
Message Twist
-------------
.. container:: message-rst-kinematics-twist-multi
.. container:: message-rst-kinematics-twist-documentation
.. py:class:: rst.kinematics.Twist
Twist representation of Cartesian velocities.
.. codeauthor:: Johannes Wienke
.. codeauthor:: Leon Ziegler
.. py:attribute:: linear
:type: :py:class:`rst.kinematics.LinearVelocities`
3-dimensional translatory velocities.
.. py:attribute:: angular
:type: :py:class:`rst.kinematics.AngularVelocities`
3-dimensional rotatory velocities.
.. container:: message-rst-kinematics-twist-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/Twist.proto
:lines: 14-26
:language: protobuf
:emphasize-lines: 6-6,11-11
.. _message-rst-kinematics-angularvelocities:
Message AngularVelocities
-------------------------
.. container:: message-rst-kinematics-angularvelocities-multi
.. container:: message-rst-kinematics-angularvelocities-documentation
.. py:class:: rst.kinematics.AngularVelocities
Cartesian 3-dimensional rotational velocities.
.. codeauthor:: Johannes Wienke
.. codeauthor:: Leon Ziegler
.. py:attribute:: a
:type: :py:class:`FLOAT32`
Velocity around the x axis.
@unit(rad / second)
.. py:attribute:: b
:type: :py:class:`FLOAT32`
Velocity around the y axis.
@unit(rad / second)
.. py:attribute:: c
:type: :py:class:`FLOAT32`
Velocity around the z axis.
@unit(rad / second)
.. container:: message-rst-kinematics-angularvelocities-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/AngularVelocities.proto
:lines: 11-31
:language: protobuf
:emphasize-lines: 7-7,13-13,19-19
.. _message-rst-kinematics-linearvelocities:
Message LinearVelocities
------------------------
.. container:: message-rst-kinematics-linearvelocities-multi
.. container:: message-rst-kinematics-linearvelocities-documentation
.. py:class:: rst.kinematics.LinearVelocities
Cartesian 3-dimensional translatory velocities.
.. codeauthor:: Johannes Wienke
.. codeauthor:: Leon Ziegler
.. py:attribute:: x
:type: :py:class:`FLOAT32`
Translatory velocity along the x axis.
@unit(meter / second)
.. py:attribute:: y
:type: :py:class:`FLOAT32`
Translatory velocity along the y axis.
@unit(meter / second)
.. py:attribute:: z
:type: :py:class:`FLOAT32`
Translatory velocity along the z axis.
@unit(meter / second)
.. container:: message-rst-kinematics-linearvelocities-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/kinematics/LinearVelocities.proto
:lines: 11-31
:language: protobuf
:emphasize-lines: 7-7,13-13,19-19
.. _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-0.11-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/kinematics/Posture3DFloat.proto
:lines: 16-30
:language: protobuf
:emphasize-lines: 13-13