haptic_thumb.hpp File Reference

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Functions
std::vector< float >	forward_kinematics (std::vector< float > joint_angles)
	Performs forward kinematics for the robot thumb.
std::vector< float >	motors_to_joints (std::vector< float > motor_vars)
std::vector< float >	joints_to_motors (std::vector< float > joint_vars)
std::vector< float >	phi_to_theta (std::vector< float > motor_phis)
std::vector< float >	theta_to_phi (std::vector< float > joint_thetas)
std::vector< float >	tau_to_torque (std::vector< float > joint_taus)
std::vector< float >	torque_to_tau (std::vector< float > motor_torques)
Matrix	spatial_jacobian (std::vector< float > joint_thetas)
std::vector< float >	soft_limit_torques (std::vector< float > joint_thetas)

Function Documentation

forward_kinematics()

std::vector< float > forward_kinematics

(

std::vector< float >

joint_angles

)

Performs forward kinematics for the robot thumb.

Parameters

joint_angles

- {theta_0, theta_1} in radians for the joints.

Returns

{x, y, z} of the end effector.

Definition at line 71 of file haptic_thumb.hpp.

joints_to_motors()

std::vector< float > joints_to_motors

(

std::vector< float >

joint_vars

)

Definition at line 115 of file haptic_thumb.hpp.

Referenced by theta_to_phi().

motors_to_joints()

std::vector< float > motors_to_joints

(

std::vector< float >

motor_vars

)

Definition at line 104 of file haptic_thumb.hpp.

Referenced by phi_to_theta().

phi_to_theta()

std::vector< float > phi_to_theta

(

std::vector< float >

motor_phis

)

Definition at line 125 of file haptic_thumb.hpp.

References joint_thetas, and motors_to_joints().

soft_limit_torques()

std::vector< float > soft_limit_torques

(

std::vector< float >

joint_thetas

)

Definition at line 167 of file haptic_thumb.hpp.

References joint_thetas, and Limits< T >::over_limits().

spatial_jacobian()

Matrix spatial_jacobian

(

std::vector< float >

joint_thetas

)

Definition at line 162 of file haptic_thumb.hpp.

tau_to_torque()

std::vector< float > tau_to_torque

(

std::vector< float >

joint_taus

)

Definition at line 140 of file haptic_thumb.hpp.

theta_to_phi()

std::vector< float > theta_to_phi

(

std::vector< float >

joint_thetas

)

Definition at line 133 of file haptic_thumb.hpp.

References joint_thetas, and joints_to_motors().

torque_to_tau()

std::vector< float > torque_to_tau

(

std::vector< float >

motor_torques

)

Definition at line 151 of file haptic_thumb.hpp.