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
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>
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.
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;
}
Joint angles of a set of multiple joints.
Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>
Type : | array of FLOAT32 |
---|
Unit: radian
Joint angles
message JointAngles {
/**
* Joint angles
*/
// @unit(radian)
repeated float angles = 1 [packed=true];
}
Holds information about a collision between two objects.
Code author: Daniel Seidel <dseidel@techfak.uni-bielefeld.de>
Type : | rst.kinematics.CollisionGeometry |
---|
Geometry of the collision, such as list of contact points.
Type : | ASCII-STRING |
---|
Name of the first object involved in the collision.
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;
}
Geometric description of a collision between objects.
Code author: Daniel Seidel <dseidel@techfak.uni-bielefeld.de>
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;
}
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