get_base_dofs.m File Reference
It returns the default configuration of the floating base coordinates of a robot manipulator. More...
Functions | |
| function base_dofs = | get_base_dofs (char type) |
| It returns the default configuration of the floating base coordinates of a robot manipulator. More... | |
Detailed Description
It returns the default configuration of the floating base coordinates of a robot manipulator.
Function Documentation
◆ get_base_dofs()
| function base_dofs = get_base_dofs | ( | char | type | ) |
It returns the default configuration of the floating base coordinates of a robot manipulator.
- The supported base joint types are
- floating: This joint allows motion for all 6 degrees of freedom. (default axes: {
Px,Py,Pz,Rx,Ry,Rz}) - planar: This joint allows motion in a plane perpendicular to the axis. (default axes: {
px,pz,r}) - revolute: a hinge joint that rotates along the axis and has a limited range specified by the upper and lower limits. (default axes:
r) - continuous: a continuous hinge joint that rotates around the axis and has no upper and lower limits. (default axes:
r) - prismatic: a sliding joint that slides along the axis, and has a limited range specified by the upper and lower limits. (default axes:
pz) - fixed: This is not really a joint because it cannot move. All degrees of freedom are locked. This type of joint does not require the axis, calibration, dynamics, limits or safety_controller. (default axes: []) For more definition regarding the supported joint type, please see the URDF joint description at http://wiki.ros.org/urdf/XML/joint
- floating: This joint allows motion for all 6 degrees of freedom. (default axes: {
- Parameters
-
type the type of the floating base configuration
- Return values
-
base the array of base coordinates
- Generated fields of base_dofs: