kinematics.hpp File Reference

Kinematics data types shared by the components that serve GetKinematics. More...

#include <boost/optional/optional.hpp>
#include <boost/variant/variant.hpp>
#include <map>
#include <string>
#include <vector>
#include <viam/sdk/common/linear_algebra.hpp>
#include <viam/sdk/common/mesh.hpp>
#include <viam/sdk/common/proto_convert.hpp>
#include <viam/sdk/common/proto_value.hpp>
#include <viam/sdk/spatialmath/geometry.hpp>
#include <viam/sdk/spatialmath/orientation.hpp>

Go to the source code of this file.

Classes
struct	viam::sdk::kinematics_options
	Options for a GetKinematics request. More...
struct	viam::sdk::LinkPose
	Pose of a link relative to its parent: translation in mm, orientation in degrees. Identity when default constructed. More...
struct	viam::sdk::RevoluteJoint
	A revolute joint. Limits are in degrees, deg/s and deg/s^2; absent means unbounded. More...
struct	viam::sdk::ContinuousJoint
	A revolute joint with no position bound. Limits are in deg/s and deg/s^2; absent means unbounded. More...
struct	viam::sdk::PrismaticJoint
	A prismatic joint. Limits are in mm, mm/s and mm/s^2; absent means unbounded. More...
struct	viam::sdk::MimicJoint
	A joint whose position is multiplier * position(joint) + offset. More...
struct	viam::sdk::KinematicProperties
	Properties of a kinematic component as a whole. More...
struct	viam::sdk::KinematicLink
	A link of a kinematic model. More...
struct	viam::sdk::KinematicJoint
	A joint of a kinematic model. More...
struct	viam::sdk::KinematicModel
	A component's kinematics as a tree of links and joints. Its proto JSON encoding is also the on-disk kinematics file format. More...
struct	viam::sdk::raw_bytes< Tag >
struct	viam::sdk::EqCompare< DataType >
struct	viam::sdk::KinematicsDataUnspecified
	Kinematics data with unspecified format. More...
struct	viam::sdk::KinematicsDataSVA
	Kinematics data in Viam's Spatial Vector Algebra (SVA) format. More...
struct	viam::sdk::KinematicsDataURDF
	Kinematics data in URDF format with optional meshes by URDF filepath. More...
struct	viam::sdk::proto_convert_details::to_proto_impl< LinkPose >
struct	viam::sdk::proto_convert_details::from_proto_impl< common::v1::LinkPose >
struct	viam::sdk::proto_convert_details::to_proto_impl< MimicJoint >
struct	viam::sdk::proto_convert_details::from_proto_impl< common::v1::MimicJoint >
struct	viam::sdk::proto_convert_details::to_proto_impl< KinematicProperties >
struct	viam::sdk::proto_convert_details::from_proto_impl< common::v1::KinematicProperties >
struct	viam::sdk::proto_convert_details::to_proto_impl< KinematicLink >
struct	viam::sdk::proto_convert_details::from_proto_impl< common::v1::KinematicLink >
struct	viam::sdk::proto_convert_details::to_proto_impl< KinematicJoint >
struct	viam::sdk::proto_convert_details::from_proto_impl< common::v1::KinematicJoint >
struct	viam::sdk::proto_convert_details::to_proto_impl< KinematicModel >
struct	viam::sdk::proto_convert_details::from_proto_impl< common::v1::KinematicModel >
struct	viam::sdk::proto_convert_details::to_proto_impl< KinematicsData >
struct	viam::sdk::proto_convert_details::from_proto_impl< common::v1::GetKinematicsResponse >

Typedefs
using	viam::sdk::joint_spec = boost::variant<RevoluteJoint, PrismaticJoint, ContinuousJoint>
	The kind of a joint together with its kind-specific limits.

Detailed Description

Kinematics data types shared by the components that serve GetKinematics.