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DenseVector | kine (DenseVector q) |
| Calculate the kinematic forward transformation from the joints positions q1, q2, q3, q4, q5, q6 to the path/orientation x, y, z, RX, RY, RZ.
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int | kine (DenseVector q, DenseVector qp, DenseVector qpp, ref DenseVector x, ref DenseVector xp, ref DenseVector xpp) |
| Calculate the kinematic forward transformation from the joints positions q1, q2, q3, q4, q5, q6 to the path/orientation x, y, z, RX, RY, RZ and also from the corresponding joints first derivatives qp and second derivatives qpp to the paths/orientations first derivatives xp and second derivatives xpp.
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DenseVector | inv_kine (DenseVector x) |
| Calculate the kinematic inverse transformation from path/orientation x, y, z, RX, RY, RZ to the joints positions q1, q2, q3, q4, q5, q6.
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int | inv_kine (DenseVector x, DenseVector xp, DenseVector xpp, ref DenseVector q, ref DenseVector qp, ref DenseVector qpp) |
| Calculate the kinematic inverse transformation from the path/orientation x, y, z, RX, RY, RZ to the joints positions q1, q2, q3, q4, q5, q6 and also from the corresponding first derivatives xp and second derivatives xpp to the joints first derivatives qp and second derivatives qpp.
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DenseVector | power (DenseVector q, DenseVector qp, DenseVector qpp) |
| Calculate the power consumption from the joints positions q1, q2, q3, q4, q5, q6 and from the corresponding joints first derivatives qp and second derivatives qpp.
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DenseVector | torque (DenseVector q, DenseVector qp, DenseVector qpp) |
| Calculate the joint torque from the joints positions q1, q2, q3, q4, q5, q6 and from the corresponding joints first derivatives qp and second derivatives qpp.
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Interface to Kinematics and Dynamics for Robots.
DenseVector SiMoRob.IRobot.inv_kine |
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DenseVector | x | ) |
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Calculate the kinematic inverse transformation from path/orientation x, y, z, RX, RY, RZ to the joints positions q1, q2, q3, q4, q5, q6.
int SiMoRob.IRobot.inv_kine |
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DenseVector | x, |
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DenseVector | xp, |
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DenseVector | xpp, |
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ref DenseVector | q, |
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ref DenseVector | qp, |
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ref DenseVector | qpp ) |
Calculate the kinematic inverse transformation from the path/orientation x, y, z, RX, RY, RZ to the joints positions q1, q2, q3, q4, q5, q6 and also from the corresponding first derivatives xp and second derivatives xpp to the joints first derivatives qp and second derivatives qpp.
DenseVector SiMoRob.IRobot.kine |
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DenseVector | q | ) |
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Calculate the kinematic forward transformation from the joints positions q1, q2, q3, q4, q5, q6 to the path/orientation x, y, z, RX, RY, RZ.
int SiMoRob.IRobot.kine |
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DenseVector | q, |
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DenseVector | qp, |
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DenseVector | qpp, |
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ref DenseVector | x, |
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ref DenseVector | xp, |
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ref DenseVector | xpp ) |
Calculate the kinematic forward transformation from the joints positions q1, q2, q3, q4, q5, q6 to the path/orientation x, y, z, RX, RY, RZ and also from the corresponding joints first derivatives qp and second derivatives qpp to the paths/orientations first derivatives xp and second derivatives xpp.