.. _package-rst-kinematics:
========================
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.
.. seealso::
Wikipedia article containing the definition above
http://en.wikipedia.org/wiki/Kinematics
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
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"11" [label=< | ObjectCollision |
|
| CollisionGeometry | geometry |
| ASCII-STRING | object_1 |
| ASCII-STRING | object_2 |
>,shape=box,style=filled,fillcolor="white"];
"12" [label=< | CollisionGeometry |
|
| Translation | contact_points |
>,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=< | JointAngles |
|
| FLOAT32 | angles |
>,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=< | Posture3DFloat |
|
| Translation | position |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | Translation |
|
| FLOAT64 | x |
| FLOAT64 | y |
| FLOAT64 | z |
| ASCII-STRING | frame_id |
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"11":geometry -> "12" [];
"12":contact_points -> "2" [];
"8":angular -> "10" [];
"8":linear -> "9" [];
"3":angular -> "5" [];
"3":linear -> "4" [];
"1":position -> "2" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`Posture3DFloat `
* :ref:`SpatialAccelerations `
* :ref:`AngularAccelerations `
* :ref:`LinearAccelerations `
* :ref:`JointVelocities `
* :ref:`JointAngles `
* :ref:`Twist `
* :ref:`AngularVelocities `
* :ref:`LinearVelocities `
* :ref:`ObjectCollision `
* :ref:`CollisionGeometry `
.. container:: clearer
clearer: should be made invisible via css
.. _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-0.12/rst-manual/../rst-proto/proto/stable/rst/kinematics/Posture3DFloat.proto
:lines: 16-30
:language: protobuf
:emphasize-lines: 13-13
.. _message-rst-kinematics-spatialaccelerations:
Message SpatialAccelerations
----------------------------
.. container:: message-rst-kinematics-spatialaccelerations-multi
.. container:: message-rst-kinematics-spatialaccelerations-documentation
.. py:class:: rst.kinematics.SpatialAccelerations
Twist-like representation of Cartesian accelerations.
.. 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-0.12/rst-manual/../rst-proto/proto/stable/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-0.12/rst-manual/../rst-proto/proto/stable/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-0.12/rst-manual/../rst-proto/proto/stable/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/sec
Joint velocities
.. container:: message-rst-kinematics-jointvelocities-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/stable/rst/kinematics/JointVelocities.proto
:lines: 10-18
:language: protobuf
:emphasize-lines: 7-7
.. _message-rst-kinematics-jointangles:
Message JointAngles
-------------------
.. container:: message-rst-kinematics-jointangles-multi
.. container:: message-rst-kinematics-jointangles-documentation
.. py:class:: rst.kinematics.JointAngles
Joint angles of a set of multiple joints.
.. codeauthor:: Arne Nordmann
.. py:attribute:: angles
:type: array of :py:class:`FLOAT32`
**Unit**: radian
Joint angles
.. container:: message-rst-kinematics-jointangles-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/stable/rst/kinematics/JointAngles.proto
:lines: 10-18
:language: protobuf
:emphasize-lines: 7-7
.. _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-0.12/rst-manual/../rst-proto/proto/stable/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-0.12/rst-manual/../rst-proto/proto/stable/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-0.12/rst-manual/../rst-proto/proto/stable/rst/kinematics/LinearVelocities.proto
:lines: 11-31
:language: protobuf
:emphasize-lines: 7-7,13-13,19-19
.. _message-rst-kinematics-objectcollision:
Message ObjectCollision
-----------------------
.. container:: message-rst-kinematics-objectcollision-multi
.. container:: message-rst-kinematics-objectcollision-documentation
.. py:class:: rst.kinematics.ObjectCollision
Holds information about a collision between two objects.
.. codeauthor:: Daniel Seidel
.. py:attribute:: geometry
:type: :py:class:`rst.kinematics.CollisionGeometry`
Geometry of the collision, such as list of contact points.
.. py:attribute:: object_1
:type: :py:class:`ASCII-STRING`
Name of the first object involved in the collision.
.. py:attribute:: object_2
:type: :py:class:`ASCII-STRING`
Name of the second object involved in the collision.
.. container:: message-rst-kinematics-objectcollision-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/stable/rst/kinematics/ObjectCollision.proto
:lines: 12-29
:language: protobuf
:emphasize-lines: 6-6,11-11,16-16
.. _message-rst-kinematics-collisiongeometry:
Message CollisionGeometry
-------------------------
.. container:: message-rst-kinematics-collisiongeometry-multi
.. container:: message-rst-kinematics-collisiongeometry-documentation
.. py:class:: rst.kinematics.CollisionGeometry
Geometric description of a collision between objects.
.. codeauthor:: Daniel Seidel
.. py:attribute:: contact_points
:type: array of :py:class:`rst.geometry.Translation`
**Constraint**: ``len(value) > 0``
Contact points of the collision in world coordinate system.
Order of contact points is not significant.
.. container:: message-rst-kinematics-collisiongeometry-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/stable/rst/kinematics/CollisionGeometry.proto
:lines: 12-22
:language: protobuf
:emphasize-lines: 9-9