Functions
std::vector< float >	forward_kinematics (std::vector< float > joint_angles)
	Performs forward kinematics for the robot thumb.

std::vector< float >	inverse_kinematics (std::vector< float > pos)
	Performs inverse 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, theta_2} in radians for the joints.

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

Definition at line 68 of file robot_thumb.hpp.

◆ inverse_kinematics()

std::vector< float > inverse_kinematics ( std::vector< float > pos )

Performs inverse kinematics for the robot thumb.

Note: Enforces joint coupling.

Parameters

pos	{x, y, z} in meters of the end effector.

Returns: {theta_0, theta_1, theta_2} of the joints in radians required to move to the location.

Definition at line 93 of file robot_thumb.hpp.

References pos.

◆ joints_to_motors()

std::vector< float > joints_to_motors ( std::vector< float > joint_vars )

Definition at line 121 of file robot_thumb.hpp.

Referenced by theta_to_phi().

◆ motors_to_joints()

std::vector< float > motors_to_joints ( std::vector< float > motor_vars )

Definition at line 109 of file robot_thumb.hpp.

Referenced by phi_to_theta().

◆ phi_to_theta()

std::vector< float > phi_to_theta ( std::vector< float > motor_phis )

Definition at line 132 of file robot_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 180 of file robot_thumb.hpp.

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

◆ spatial_jacobian()

Matrix spatial_jacobian ( std::vector< float > joint_thetas )

Definition at line 175 of file robot_thumb.hpp.

◆ tau_to_torque()

std::vector< float > tau_to_torque ( std::vector< float > joint_taus )

Definition at line 150 of file robot_thumb.hpp.

◆ theta_to_phi()

std::vector< float > theta_to_phi ( std::vector< float > joint_thetas )

Definition at line 141 of file robot_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 162 of file robot_thumb.hpp.

Functions