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

digraph message_graph { fontname="Arial"; fontsize=11; stylesheet="../_static/graphs.css"; node [fontsize=11,fontname="Arial"] edge [fontsize=11,fontname="Arial"] "27" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.ObjectCollisionCollection" TITLE="Message rst.kinematics.ObjectCollisionCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">ObjectCollisionCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.ObjectCollision" TITLE="Message rst.kinematics.ObjectCollision" TARGET="_parent">ObjectCollision</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.ObjectCollisionCollection.element" TITLE="Field rst.kinematics.ObjectCollisionCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "28" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.ObjectCollision" TITLE="Message rst.kinematics.ObjectCollision" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">ObjectCollision</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.CollisionGeometry" TITLE="Message rst.kinematics.CollisionGeometry" TARGET="_parent">CollisionGeometry</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.ObjectCollision.geometry" TITLE="Field rst.kinematics.ObjectCollision.geometry" TARGET="_parent" PORT="geometry">geometry</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-ASCII-STRING.html#ASCII-STRING" TITLE="Fundamental ASCII-STRING" TARGET="_parent">ASCII-STRING</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.ObjectCollision.object_1" TITLE="Field rst.kinematics.ObjectCollision.object_1" TARGET="_parent" PORT="object_1">object_1</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-ASCII-STRING.html#ASCII-STRING" TITLE="Fundamental ASCII-STRING" TARGET="_parent">ASCII-STRING</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.ObjectCollision.object_2" TITLE="Field rst.kinematics.ObjectCollision.object_2" TARGET="_parent" PORT="object_2">object_2</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "26" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularAccelerationsCollection" TITLE="Message rst.kinematics.AngularAccelerationsCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">AngularAccelerationsCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularAccelerations" TITLE="Message rst.kinematics.AngularAccelerations" TARGET="_parent">AngularAccelerations</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularAccelerationsCollection.element" TITLE="Field rst.kinematics.AngularAccelerationsCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "25" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearAccelerationsCollection" TITLE="Message rst.kinematics.LinearAccelerationsCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">LinearAccelerationsCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearAccelerations" TITLE="Message rst.kinematics.LinearAccelerations" TARGET="_parent">LinearAccelerations</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearAccelerationsCollection.element" TITLE="Field rst.kinematics.LinearAccelerationsCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "23" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointJerksCollection" TITLE="Message rst.kinematics.JointJerksCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">JointJerksCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointJerks" TITLE="Message rst.kinematics.JointJerks" TARGET="_parent">JointJerks</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointJerksCollection.element" TITLE="Field rst.kinematics.JointJerksCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "24" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointJerks" TITLE="Message rst.kinematics.JointJerks" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">JointJerks</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointJerks.jerks" TITLE="Field rst.kinematics.JointJerks.jerks" TARGET="_parent" PORT="jerks">jerks</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "22" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularVelocitiesCollection" TITLE="Message rst.kinematics.AngularVelocitiesCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">AngularVelocitiesCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularVelocities" TITLE="Message rst.kinematics.AngularVelocities" TARGET="_parent">AngularVelocities</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularVelocitiesCollection.element" TITLE="Field rst.kinematics.AngularVelocitiesCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "18" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.SpatialAccelerationsCollection" TITLE="Message rst.kinematics.SpatialAccelerationsCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">SpatialAccelerationsCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.SpatialAccelerations" TITLE="Message rst.kinematics.SpatialAccelerations" TARGET="_parent">SpatialAccelerations</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.SpatialAccelerationsCollection.element" TITLE="Field rst.kinematics.SpatialAccelerationsCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "19" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.SpatialAccelerations" TITLE="Message rst.kinematics.SpatialAccelerations" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">SpatialAccelerations</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearAccelerations" TITLE="Message rst.kinematics.LinearAccelerations" TARGET="_parent">LinearAccelerations</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.SpatialAccelerations.linear" TITLE="Field rst.kinematics.SpatialAccelerations.linear" TARGET="_parent" PORT="linear">linear</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularAccelerations" TITLE="Message rst.kinematics.AngularAccelerations" TARGET="_parent">AngularAccelerations</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.SpatialAccelerations.angular" TITLE="Field rst.kinematics.SpatialAccelerations.angular" TARGET="_parent" PORT="angular">angular</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "21" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularAccelerations" TITLE="Message rst.kinematics.AngularAccelerations" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">AngularAccelerations</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularAccelerations.a" TITLE="Field rst.kinematics.AngularAccelerations.a" TARGET="_parent" PORT="a">a</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularAccelerations.b" TITLE="Field rst.kinematics.AngularAccelerations.b" TARGET="_parent" PORT="b">b</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularAccelerations.c" TITLE="Field rst.kinematics.AngularAccelerations.c" TARGET="_parent" PORT="c">c</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "20" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearAccelerations" TITLE="Message rst.kinematics.LinearAccelerations" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">LinearAccelerations</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearAccelerations.x" TITLE="Field rst.kinematics.LinearAccelerations.x" TARGET="_parent" PORT="x">x</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearAccelerations.y" TITLE="Field rst.kinematics.LinearAccelerations.y" TARGET="_parent" PORT="y">y</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearAccelerations.z" TITLE="Field rst.kinematics.LinearAccelerations.z" TARGET="_parent" PORT="z">z</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "17" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearVelocitiesCollection" TITLE="Message rst.kinematics.LinearVelocitiesCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">LinearVelocitiesCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearVelocities" TITLE="Message rst.kinematics.LinearVelocities" TARGET="_parent">LinearVelocities</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearVelocitiesCollection.element" TITLE="Field rst.kinematics.LinearVelocitiesCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "15" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAnglesCollection" TITLE="Message rst.kinematics.JointAnglesCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">JointAnglesCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAngles" TITLE="Message rst.kinematics.JointAngles" TARGET="_parent">JointAngles</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAnglesCollection.element" TITLE="Field rst.kinematics.JointAnglesCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "16" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAngles" TITLE="Message rst.kinematics.JointAngles" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">JointAngles</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAngles.angles" TITLE="Field rst.kinematics.JointAngles.angles" TARGET="_parent" PORT="angles">angles</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "13" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.CollisionGeometryCollection" TITLE="Message rst.kinematics.CollisionGeometryCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">CollisionGeometryCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.CollisionGeometry" TITLE="Message rst.kinematics.CollisionGeometry" TARGET="_parent">CollisionGeometry</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.CollisionGeometryCollection.element" TITLE="Field rst.kinematics.CollisionGeometryCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "14" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.CollisionGeometry" TITLE="Message rst.kinematics.CollisionGeometry" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">CollisionGeometry</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Translation" TITLE="Message rst.geometry.Translation" TARGET="_parent">Translation</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.CollisionGeometry.contact_points" TITLE="Field rst.kinematics.CollisionGeometry.contact_points" TARGET="_parent" PORT="contact_points">contact_points</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "9" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.TwistCollection" TITLE="Message rst.kinematics.TwistCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">TwistCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Twist" TITLE="Message rst.kinematics.Twist" TARGET="_parent">Twist</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.TwistCollection.element" TITLE="Field rst.kinematics.TwistCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "10" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Twist" TITLE="Message rst.kinematics.Twist" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">Twist</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearVelocities" TITLE="Message rst.kinematics.LinearVelocities" TARGET="_parent">LinearVelocities</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Twist.linear" TITLE="Field rst.kinematics.Twist.linear" TARGET="_parent" PORT="linear">linear</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularVelocities" TITLE="Message rst.kinematics.AngularVelocities" TARGET="_parent">AngularVelocities</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Twist.angular" TITLE="Field rst.kinematics.Twist.angular" TARGET="_parent" PORT="angular">angular</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "12" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularVelocities" TITLE="Message rst.kinematics.AngularVelocities" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">AngularVelocities</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularVelocities.a" TITLE="Field rst.kinematics.AngularVelocities.a" TARGET="_parent" PORT="a">a</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularVelocities.b" TITLE="Field rst.kinematics.AngularVelocities.b" TARGET="_parent" PORT="b">b</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.AngularVelocities.c" TITLE="Field rst.kinematics.AngularVelocities.c" TARGET="_parent" PORT="c">c</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "11" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearVelocities" TITLE="Message rst.kinematics.LinearVelocities" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">LinearVelocities</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearVelocities.x" TITLE="Field rst.kinematics.LinearVelocities.x" TARGET="_parent" PORT="x">x</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearVelocities.y" TITLE="Field rst.kinematics.LinearVelocities.y" TARGET="_parent" PORT="y">y</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.LinearVelocities.z" TITLE="Field rst.kinematics.LinearVelocities.z" TARGET="_parent" PORT="z">z</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "7" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAccelerationsCollection" TITLE="Message rst.kinematics.JointAccelerationsCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">JointAccelerationsCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAccelerations" TITLE="Message rst.kinematics.JointAccelerations" TARGET="_parent">JointAccelerations</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAccelerationsCollection.element" TITLE="Field rst.kinematics.JointAccelerationsCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "8" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAccelerations" TITLE="Message rst.kinematics.JointAccelerations" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">JointAccelerations</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointAccelerations.accelerations" TITLE="Field rst.kinematics.JointAccelerations.accelerations" TARGET="_parent" PORT="accelerations">accelerations</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "3" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Posture3DFloatCollection" TITLE="Message rst.kinematics.Posture3DFloatCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">Posture3DFloatCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Posture3DFloat" TITLE="Message rst.kinematics.Posture3DFloat" TARGET="_parent">Posture3DFloat</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Posture3DFloatCollection.element" TITLE="Field rst.kinematics.Posture3DFloatCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "4" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Posture3DFloat" TITLE="Message rst.kinematics.Posture3DFloat" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">Posture3DFloat</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Translation" TITLE="Message rst.geometry.Translation" TARGET="_parent">Translation</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Posture3DFloat.position" TITLE="Field rst.kinematics.Posture3DFloat.position" TARGET="_parent" PORT="position">position</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Rotation" TITLE="Message rst.geometry.Rotation" TARGET="_parent">Rotation</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Posture3DFloat.rotation" TITLE="Field rst.kinematics.Posture3DFloat.rotation" TARGET="_parent" PORT="rotation">rotation</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-OCTET-VECTOR.html#OCTET-VECTOR" TITLE="Fundamental OCTET-VECTOR" TARGET="_parent">OCTET-VECTOR</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.Posture3DFloat.name" TITLE="Field rst.kinematics.Posture3DFloat.name" TARGET="_parent" PORT="name">name</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "6" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Rotation" TITLE="Message rst.geometry.Rotation" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">Rotation</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT64.html#FLOAT64" TITLE="Fundamental FLOAT64" TARGET="_parent">FLOAT64</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Rotation.qw" TITLE="Field rst.geometry.Rotation.qw" TARGET="_parent" PORT="qw">qw</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT64.html#FLOAT64" TITLE="Fundamental FLOAT64" TARGET="_parent">FLOAT64</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Rotation.qx" TITLE="Field rst.geometry.Rotation.qx" TARGET="_parent" PORT="qx">qx</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT64.html#FLOAT64" TITLE="Fundamental FLOAT64" TARGET="_parent">FLOAT64</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Rotation.qy" TITLE="Field rst.geometry.Rotation.qy" TARGET="_parent" PORT="qy">qy</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT64.html#FLOAT64" TITLE="Fundamental FLOAT64" TARGET="_parent">FLOAT64</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Rotation.qz" TITLE="Field rst.geometry.Rotation.qz" TARGET="_parent" PORT="qz">qz</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-ASCII-STRING.html#ASCII-STRING" TITLE="Fundamental ASCII-STRING" TARGET="_parent">ASCII-STRING</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Rotation.frame_id" TITLE="Field rst.geometry.Rotation.frame_id" TARGET="_parent" PORT="frame_id">frame_id</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "5" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Translation" TITLE="Message rst.geometry.Translation" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">Translation</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT64.html#FLOAT64" TITLE="Fundamental FLOAT64" TARGET="_parent">FLOAT64</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Translation.x" TITLE="Field rst.geometry.Translation.x" TARGET="_parent" PORT="x">x</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT64.html#FLOAT64" TITLE="Fundamental FLOAT64" TARGET="_parent">FLOAT64</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Translation.y" TITLE="Field rst.geometry.Translation.y" TARGET="_parent" PORT="y">y</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT64.html#FLOAT64" TITLE="Fundamental FLOAT64" TARGET="_parent">FLOAT64</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Translation.z" TITLE="Field rst.geometry.Translation.z" TARGET="_parent" PORT="z">z</TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-ASCII-STRING.html#ASCII-STRING" TITLE="Fundamental ASCII-STRING" TARGET="_parent">ASCII-STRING</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-geometry.html#rst.geometry.Translation.frame_id" TITLE="Field rst.geometry.Translation.frame_id" TARGET="_parent" PORT="frame_id">frame_id</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "1" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointVelocitiesCollection" TITLE="Message rst.kinematics.JointVelocitiesCollection" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">JointVelocitiesCollection</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointVelocities" TITLE="Message rst.kinematics.JointVelocities" TARGET="_parent">JointVelocities</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointVelocitiesCollection.element" TITLE="Field rst.kinematics.JointVelocitiesCollection.element" TARGET="_parent" PORT="element">element</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "2" [label=<<TABLE BORDER="0"><TR><TD COLSPAN="2" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointVelocities" TITLE="Message rst.kinematics.JointVelocities" TARGET="_parent"><TABLE BORDER="0"><TR><TD ALIGN="right"><IMG SRC="../_static/message.svg"></IMG></TD><TD ALIGN="left">JointVelocities</TD></TR></TABLE></TD></TR><TR><TD ALIGN="left" HREF="../generated/stable/package-__rosetta-FLOAT32.html#FLOAT32" TITLE="Fundamental FLOAT32" TARGET="_parent">FLOAT32</TD><TD ALIGN="left" HREF="../generated/stable/package-rst-kinematics.html#rst.kinematics.JointVelocities.velocities" TITLE="Field rst.kinematics.JointVelocities.velocities" TARGET="_parent" PORT="velocities">velocities</TD></TR></TABLE>>,shape=box,style=filled,fillcolor="white"]; "27":element -> "28"[]; "28":geometry -> "14"[]; "26":element -> "21"[]; "25":element -> "20"[]; "23":element -> "24"[]; "22":element -> "12"[]; "18":element -> "19"[]; "19":angular -> "21"[]; "19":linear -> "20"[]; "17":element -> "11"[]; "15":element -> "16"[]; "13":element -> "14"[]; "14":contact_points -> "5"[]; "9":element -> "10"[]; "10":angular -> "12"[]; "10":linear -> "11"[]; "7":element -> "8"[]; "3":element -> "4"[]; "4":rotation -> "6"[]; "4":position -> "5"[]; "1":element -> "2"[]; }

Message JointVelocitiesCollection

class rst.kinematics.JointVelocitiesCollection

Collection of JointVelocities instances.

Auto-generated.

element
Type:array of rst.kinematics.JointVelocities

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message JointVelocitiesCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated JointVelocities element = 1;

}

Message Posture3DFloatCollection

class rst.kinematics.Posture3DFloatCollection

Collection of Posture3DFloat instances.

Auto-generated.

element
Type:array of rst.kinematics.Posture3DFloat

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message Posture3DFloatCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated Posture3DFloat element = 1;

}

Message JointAccelerationsCollection

class rst.kinematics.JointAccelerationsCollection

Collection of JointAccelerations instances.

Auto-generated.

element
Type:array of rst.kinematics.JointAccelerations

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message JointAccelerationsCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated JointAccelerations element = 1;

}

Message TwistCollection

class rst.kinematics.TwistCollection

Collection of Twist instances.

Auto-generated.

element
Type:array of rst.kinematics.Twist

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message TwistCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated Twist element = 1;

}

Message CollisionGeometryCollection

class rst.kinematics.CollisionGeometryCollection

Collection of CollisionGeometry instances.

Auto-generated.

element
Type:array of rst.kinematics.CollisionGeometry

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message CollisionGeometryCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated CollisionGeometry element = 1;

}

Message JointAnglesCollection

class rst.kinematics.JointAnglesCollection

Collection of JointAngles instances.

Auto-generated.

element
Type:array of rst.kinematics.JointAngles

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message JointAnglesCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated JointAngles element = 1;

}

Message LinearVelocitiesCollection

class rst.kinematics.LinearVelocitiesCollection

Collection of LinearVelocities instances.

Auto-generated.

element
Type:array of rst.kinematics.LinearVelocities

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message LinearVelocitiesCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated LinearVelocities element = 1;

}

Message SpatialAccelerationsCollection

class rst.kinematics.SpatialAccelerationsCollection

Collection of SpatialAccelerations instances.

Auto-generated.

element
Type:array of rst.kinematics.SpatialAccelerations

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message SpatialAccelerationsCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated SpatialAccelerations element = 1;

}

Message AngularVelocitiesCollection

class rst.kinematics.AngularVelocitiesCollection

Collection of AngularVelocities instances.

Auto-generated.

element
Type:array of rst.kinematics.AngularVelocities

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message AngularVelocitiesCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated AngularVelocities element = 1;

}

Message JointJerksCollection

class rst.kinematics.JointJerksCollection

Collection of JointJerks instances.

Auto-generated.

element
Type:array of rst.kinematics.JointJerks

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message JointJerksCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated JointJerks element = 1;

}

Message LinearAccelerationsCollection

class rst.kinematics.LinearAccelerationsCollection

Collection of LinearAccelerations instances.

Auto-generated.

element
Type:array of rst.kinematics.LinearAccelerations

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message LinearAccelerationsCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated LinearAccelerations element = 1;

}

Message AngularAccelerationsCollection

class rst.kinematics.AngularAccelerationsCollection

Collection of AngularAccelerations instances.

Auto-generated.

element
Type:array of rst.kinematics.AngularAccelerations

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message AngularAccelerationsCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated AngularAccelerations element = 1;

}

Message ObjectCollisionCollection

class rst.kinematics.ObjectCollisionCollection

Collection of ObjectCollision instances.

Auto-generated.

element
Type:array of rst.kinematics.ObjectCollision

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

Download this file

message ObjectCollisionCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated ObjectCollision element = 1;

}

Message JointVelocities

class rst.kinematics.JointVelocities

A sequence of joint velocities of multiple joints.

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

@create_collection

velocities
Type:array of FLOAT32

Unit: rad/sec

Joint velocities

Download this file

message JointVelocities {

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

}

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>

@constraint((len(.rotation) = 0) or (len(.rotation) = len(.position))) @constraint((len(.name) = 0) or (len(.name) = len(.position))) @create_collection

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.

rotation
Type:array of rst.geometry.Rotation

Sequence of joint rotations in three-dimensional space.

Interpretation depends on information transmitted trough other channels.

The order of entries is significant since they are related to their position.

name
Type:array of OCTET-VECTOR

Names of the individual positions stored in <Could not resolve reference to .posture> .

Download this file

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;

    /**
     * Sequence of joint rotations in three-dimensional space.
     *
     * Interpretation depends on information transmitted trough other
     * channels.
     *
     * The order of entries is significant since they are related to
     * their @ref .position.
     */
    repeated geometry.Rotation rotation = 3;

    /**
     * Names of the individual positions stored in @ref .posture.
     */
    repeated bytes name = 4;

}

Message JointAccelerations

class rst.kinematics.JointAccelerations

A sequence of joint accelerations of multiple joints.

Code author: Niels Dehio <ndehio@cor-lab.uni-bielefeld.de>

@create_collection

accelerations
Type:array of FLOAT32

Unit: rad/sec^2

Joint accelerations.

Order is important and represents the described underlying physical object.

Download this file

message JointAccelerations {

    /**
     * Joint accelerations.
     *
     * Order is important and represents the described underlying
     * physical object.
     */
    // @unit(rad/sec^2)
    repeated float accelerations = 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>

@create_collection

linear
Type:rst.kinematics.LinearVelocities

3-dimensional translatory velocities.

angular
Type:rst.kinematics.AngularVelocities

3-dimensional rotatory velocities.

Download this file

message Twist {

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

    /**
     * 3-dimensional rotatory velocities.
     */
    required AngularVelocities angular = 2;

}

Message JointAngles

class rst.kinematics.JointAngles

Joint angles of a set of multiple joints.

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

@create_collection

angles
Type:array of FLOAT32

Unit: radian

Joint angles

Download this file

message JointAngles {

    /**
     * Joint angles
     */
    // @unit(radian)
    repeated float angles = 1 [packed=true];

}

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>

@create_collection

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 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>

@create_collection

linear
Type:rst.kinematics.LinearAccelerations

3-dimensional translatory accelerations.

angular
Type:rst.kinematics.AngularAccelerations

3-dimensional rotatory accelerations.

Download this file

message SpatialAccelerations {

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

    /**
     * 3-dimensional rotatory accelerations.
     */
    required AngularAccelerations 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>

@create_collection

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)

Download this file

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 JointJerks

class rst.kinematics.JointJerks

A sequence of joint jerks of multiple joints.

Code author: Niels Dehio <ndehio@cor-lab.uni-bielefeld.de>

@create_collection

jerks
Type:array of FLOAT32

Unit: rad/sec^3

Joint jerks.

Order is important and represents the described underlying physical object.

Download this file

message JointJerks {

    /**
     * Joint jerks.
     *
     * Order is important and represents the described underlying
     * physical object.
     */
    // @unit(rad/sec^3)
    repeated float jerks = 1 [packed=true];

}

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>

@create_collection

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)

Download this file

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 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>

@create_collection

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)

Download this file

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 ObjectCollision

class rst.kinematics.ObjectCollision

Holds information about a collision between two objects.

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

@create_collection

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.

Download this file

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>

@create_collection

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.

Download this file

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;

}