forked from fkanehiro/hrpsys-base
-
Notifications
You must be signed in to change notification settings - Fork 0
/
ForwardKinematicsService.idl
47 lines (43 loc) · 1.78 KB
/
ForwardKinematicsService.idl
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
/**
* @file ForwardKinematicsService.idl
* @brief Services for the forward kinematics interface
*/
#include "BasicDataType.idl"
module OpenHRP
{
interface ForwardKinematicsService
{
typedef double position[3];
/**
@brief select a link its position of the actual model coincides with that of the reference model.
@param linkname link name
@return true if selected successfully, false otherwise
*/
boolean selectBaseLink(in string linkname);
/**
@brief get link pose of the reference model. The reference model is computed from reference joint angles and reference position/orientation of the root link.
@param linkname link name
@param pose homogeneous matrix of the link in the global coordinates
@return true if gotten successfully, false otherwise
*/
boolean getReferencePose(in string linkname, out RTC::TimedDoubleSeq pose);
/**
@brief get link pose of the actual model. The actual model is computed from current joint angles.
@param linkname link name
@param pose homogeneous matrix of the link in the global coordinates
@return true if gotten successfully, false otherwise
*/
boolean getCurrentPose(in string linkname, out RTC::TimedDoubleSeq pose);
/**
@brief get current position of a point on a link expressed in the other link frame
@param linknameFrom the result is computed w.r.t. this link
@param linknameTo the point is fixed on this link
@param target position of the point wrt linknameTo
@param result relative position of the point
@return true if gotten successfully, false otherwise
*/
boolean getRelativeCurrentPosition(in string linknameFrom, in string linknameTo,
in position target,
out position result);
};
};