diff --git a/etc/doxygen/pages/MotionControl.dox b/etc/doxygen/pages/MotionControl.dox deleted file mode 100644 index e5beee9a28c44f9f290fd726fc3da5d6256a69d6..0000000000000000000000000000000000000000 --- a/etc/doxygen/pages/MotionControl.dox +++ /dev/null @@ -1,76 +0,0 @@ -/** - \defgroup RobotAPI-MotionControl RobotAPI MotionControl - \ingroup RobotAPI - - \section Overview Overview of the implemented functionality in MotionControl - All functionality is implemented with State to provide a convenient interface - for the non-instant move functions (States receive events when desired targets - are reached).<br/> - The following functionality is available in the MotionControl: - - Direct kinematics: move joints to a desired configuration (armarx::MotionControl::MoveJoints) - - Velocity control: set the desired velocities for joints (armarx::MotionControl::MoveJointsVelocityControl) - - Inverse kinematics: move the TCP of a kinematic chain to a desired pose (armarx::MotionControl::MoveTCPPoseIK) - - Trajectory: move the TCP of a kinematic chain along a trajectory defined by a list of poses (armarx::MotionControl::MoveTCPTrajectory) - - Stop: stop all motion of the robot (armarx::MotionControl::StopRobot) - - \section HowTo How to use the states - To use one of the MotionControl states, you have to make it a substate of your own state (see ArmarXCore::Statechart). To set its parameters, - map them from you own state to it. The standard configuration is set in file ${ArmarX_Home}/data/HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml. - - Two kinds of kinematic entities are controlled using the MotionControl: single joints and kinematic chains. A kinematic chain is a list of joints - that usually belong to a part of the robot, e.g. an arm. The joints and the kinematic chains are all defined in the xml files that describe the - kinematic model of the robot (e.g. ${ArmarX_Home/data/ArmarIV/RobotModel/ArmarIV.xml and the files for the subparts). Look in these files to find out the name of - the joint or kinematic chain you want to move. - - \subsection UsingMoveJoints Using armarx::MotionControl::MoveJoints - This state moves the specified joints to the desired configuration. - Input parameters: - - jointNames: the names of the joints to be moved - - targetJointValues: the desired joint values - - targetTolerance: tolerance defining how precisely the joint position has to be reached - - timeoutInMs: a timeout after which the attempt to move is aborted - Output parameters: - - jointDistancesToTargets: the distance of each joint to the desired configuration - - \subsection UsingMoveJointsVelocityControl Using armarx::MotionControl::MoveJointsVelocityControl - This state moves the specified joints with the desired velocity. - Input parameters: - - jointNames: the names of the joints to be moved - - targetJointVelocities: the desired joint velocities - - targetJointVelocityTolerance: tolerance defining how precisely the joint velocity has to be reached - - timeoutInMs: a timeout after which the attempt is aborted - Output parameters: - - jointVelocitiesDistancesToTargets: the difference between the desired and actual joint velocities - - \subsection UsingMoveTCPPoseIK Using armarx::MotionControl::MoveTCPPoseIK - Moves the TCP of the specified kinematic chain to the desired pose if possible. - Input parameters: - - kinematicChainName: the name of the kinematic chain that is used - - targetTCPPosition: the target position for the TCP - - targetTCPOrientation: the target orientation - - targetPositionDistanceTolerance: tolerance for the position to decide if the motion was successfull - - targetOrientationDistanceTolerance: tolerance for the orientation to decide if the motion was successfull - - ikWithOrientation: Consider orientation for IK computation. if false, the rotation of the TCP is not considered. - - timeoutInMs: a timeout after which the motion is aborted - Output parameters: - - TCPDistanceToTarget: kartesian distance between TCP and target position - - TCPOrientationDistanceToTarget: the difference between desired and actual orientation of the TCP - - \subsection UsingMoveTCPTrajectory Using armarx::MotionControl::MoveTCPTrajectory - Moves the TCP of the specified kinematic chain along the defined poses. - Input parameters: - - kinematicChainName: the name of the kinematic chain that is used - - targetTCPPositions: the list of target positions for the TCP - - targetTCPOrientations: the list of target orientations - - targetPositionDistanceTolerance: tolerance for the position to decide if the motion was successfull - - targetOrientationDistanceTolerance: tolerance for the orientation to decide if the motion was successfull - - ikWithOrientation: Consider orientation for IK computation. if false, the rotation of the TCP is not considered. - - timeoutInMs: a timeout after which the motion is aborted - Output parameters: - - TCPDistanceToTarget: kartesian distance between TCP and target position - - TCPOrientationDistanceToTarget: the difference between desired and actual orientation of the TCP - - \subsection UsingStopRobot Using armarx::MotionControl::StopRobot - Stops all motion of the robot. No parameters. - -*/