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

• Posture3DFloat
• SpatialAccelerations
• AngularAccelerations
• LinearAccelerations
• JointVelocities
• JointAngles
• Twist
• AngularVelocities
• LinearVelocities
• ObjectCollision
• CollisionGeometry

clearer: should be made invisible via css

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;

}

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>

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/sec

Joint velocities

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message JointVelocities {

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

}

Message JointAngles

class rst.kinematics.JointAngles

Joint angles of a set of multiple joints.

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

angles

Type:array of FLOAT32

Unit: radian

Joint angles

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message JointAngles {

    /**
     * Joint angles
     */
    // @unit(radian)
    repeated float angles = 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>

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)

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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 ObjectCollision

class rst.kinematics.ObjectCollision

Holds information about a collision between two objects.

Code author: Daniel Seidel <dseidel@techfak.uni-bielefeld.de>

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.

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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>

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.

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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;

}