Package rst.kinematics

Not documented

Messages

• JointPositionState
• SpatialAccelerations
• AngularAccelerations
• LinearAccelerations
• JointVelocities
• ProprioceptionState
• JointState
• Twist
• AngularVelocities
• LinearVelocities
• 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

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message JointPositionState {

    repeated JointState joints = 1;

}

Message SpatialAccelerations

class rst.kinematics.SpatialAccelerations

Twist representation of Cartesian velocities.

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

Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

linear

Type :rst.kinematics.LinearAccelerations

3-dimensional translatory accelerations.

angular

Type :rst.kinematics.AngularAccelerations

3-dimensional rotatory accelerations.

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message SpatialAccelerations {

    /**
     * 3-dimensional translatory accelerations.
     */
    required LinearAccelerations linear = 1;

    /**
     * 3-dimensional rotatory accelerations.
     */
    required AngularAccelerations angular = 2;

}

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>

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)

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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 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>

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)

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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 JointVelocities

class rst.kinematics.JointVelocities

A sequence of joint velocities of multiple joints.

Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>

velocities

Type :array of FLOAT32

Unit: rad-per-second

Joint velocities

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message JointVelocities {

    /**
     * Joint velocities
     */
    // @unit(rad-per-second)
    repeated float velocities = 1 [packed=true];

}

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

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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.

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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 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>

linear

Type :rst.kinematics.LinearVelocities

3-dimensional translatory velocities.

angular

Type :rst.kinematics.AngularVelocities

3-dimensional rotatory velocities.

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message Twist {

    /**
     * 3-dimensional translatory velocities.
     */
    required LinearVelocities linear = 1;

    /**
     * 3-dimensional rotatory velocities.
     */
    required AngularVelocities 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>

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)

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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 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>

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)

Download this file

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 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.

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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;

}