File containing the function to compute the kinematic function of a robotic arm. More...

Data Structures
struct	s_DHP
	struct DHP denavit hartenberg parameter More...
Typedefs
typedef struct s_DHP	DHP
	struct DHP denavit hartenberg parameter
Functions
void	DHP_update (DHP dhp, matrix joints)
	this function allows to update the current dh parameter with the actual joints angle
void	DH_Transf (DHP dhp, matrix T)
	this function allows to compute the homogeneouse trasformation matrix starting from DH parameters
void	DPKF (matrix joint, matrix p)
	Function which performs the direct position kinematic function.
void	JacobianG (matrix joint, matrix Jg, matrix *T_TCP)
	Function which returns the geometric Jacobian given the joints values.
void	JacobianA (matrix joint, matrix Ja)
	Function which returns the Analytical Jacobian given the joints values.
int	IPKF (matrix p, matrix joint)
	Computes the inverse kinematics (returns the joints values for a desired pose).

Detailed Description

File containing the function to compute the kinematic function of a robotic arm.

Definition in file kinematic.h.

Typedef Documentation

typedef struct s_DHP DHP

struct DHP denavit hartenberg parameter