diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index f09afe8aab09f035f22154b49bfd182bd360abe8..294ae06f6bca216b531b667718d03ff3f66a0895 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -333,8 +333,9 @@ SET(SOURCES
Nodes/RobotNodeRevolute.cpp
Nodes/RobotNodeRevoluteFactory.cpp
Nodes/Sensor.cpp
+ Nodes/HemisphereJoint/CachedMaths.cpp
Nodes/HemisphereJoint/Expressions.cpp
- Nodes/HemisphereJoint/Joint.cpp
+ Nodes/HemisphereJoint/Maths.cpp
TimeOptimalTrajectory/Path.cpp
TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
@@ -577,8 +578,9 @@ SET(INCLUDES
Nodes/RobotNodeRevoluteFactory.h
Nodes/Sensor.h
Nodes/SensorFactory.h
+ Nodes/HemisphereJoint/CachedMaths.h
Nodes/HemisphereJoint/Expressions.h
- Nodes/HemisphereJoint/Joint.h
+ Nodes/HemisphereJoint/Maths.h
TimeOptimalTrajectory/Path.h
TimeOptimalTrajectory/TimeOptimalTrajectory.h
diff --git a/VirtualRobot/IK/DifferentialIK.cpp b/VirtualRobot/IK/DifferentialIK.cpp
index e12d649b7280bd1abf3d4f2dd0663f3255f0b3b6..a37240e9d055530f97bd888f008b17ea1b893fdd 100644
--- a/VirtualRobot/IK/DifferentialIK.cpp
+++ b/VirtualRobot/IK/DifferentialIK.cpp
@@ -454,27 +454,19 @@ namespace VirtualRobot
VR_ASSERT(hemisphere->first.has_value() xor hemisphere->second.has_value());
- if (hemisphere->first)
+ if (hemisphere->isFirstHemisphereJointNode())
{
// Nothing to do - everything is handled by second DoF.
}
else
{
- VR_ASSERT(hemisphere->second);
+ VR_ASSERT(hemisphere->isSecondHemisphereJointNode());
// Set Jacobian for both DoFs.
+ const RobotNodeHemisphere::SecondData& second = hemisphere->getSecondData();
+ const hemisphere::Maths::Jacobian jacobian = second.getJacobian();
- RobotNodeHemispherePtr second = hemisphere;
- RobotNodeHemisphere* first = hemisphere->second->first;
-
- RobotNodeHemisphere::JointMath& math = first->first->math;
-
- Eigen::Vector2f actuators(first->getJointValue(), second->getJointValue());
- math.update(actuators);
-
- hemisphere::Joint::Jacobian jacobian = math.joint.getJacobian();
-
- tmpUpdateJacobianPosition.block<6, 2>(0, i-1) = jacobian.cast<float>();
+ tmpUpdateJacobianPosition.block<6, 2>(0, i - 1) = jacobian.cast<float>();
}
}
}
diff --git a/VirtualRobot/Nodes/HemisphereJoint/CachedMaths.cpp b/VirtualRobot/Nodes/HemisphereJoint/CachedMaths.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e52ac985bb26927b5dfff6ee22e9d45a67a3f7b2
--- /dev/null
+++ b/VirtualRobot/Nodes/HemisphereJoint/CachedMaths.cpp
@@ -0,0 +1,15 @@
+#include "CachedMaths.h"
+
+
+namespace VirtualRobot::hemisphere
+{
+
+ void CachedMaths::update(const Eigen::Vector2f& actuators)
+ {
+ if (actuators != this->actuators)
+ {
+ maths.computeFkOfAngle(actuators.cast<double>());
+ }
+ }
+
+}
diff --git a/VirtualRobot/Nodes/HemisphereJoint/CachedMaths.h b/VirtualRobot/Nodes/HemisphereJoint/CachedMaths.h
new file mode 100644
index 0000000000000000000000000000000000000000..9f2c139326e794a6763b99db25ccb1612e7eb0ee
--- /dev/null
+++ b/VirtualRobot/Nodes/HemisphereJoint/CachedMaths.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include "Maths.h"
+
+#include <Eigen/Core>
+
+
+namespace VirtualRobot::hemisphere
+{
+
+ /**
+ * @brief Wrapper around `hemisphere::Joint` caching the results.
+ */
+ class CachedMaths
+ {
+ public:
+
+ /**
+ * @brief Recompute the maths if the given `actuators` differ from
+ * the stored `actuators`.
+ */
+ void update(const Eigen::Vector2f& actuators);
+
+ public:
+
+ /// The actuator values that were used to compute the joint math.
+ Eigen::Vector2f actuators = Eigen::Vector2f::Constant(std::numeric_limits<float>::min());
+
+ /// The joint math.
+ hemisphere::Maths maths;
+
+ };
+
+}
diff --git a/VirtualRobot/Nodes/HemisphereJoint/Joint.cpp b/VirtualRobot/Nodes/HemisphereJoint/Maths.cpp
similarity index 82%
rename from VirtualRobot/Nodes/HemisphereJoint/Joint.cpp
rename to VirtualRobot/Nodes/HemisphereJoint/Maths.cpp
index f80cddf9abbd63f9ee8fe28a44699164e54aa566..539cee4df8b8e72135ab357a7db52c3d60949b4c 100644
--- a/VirtualRobot/Nodes/HemisphereJoint/Joint.cpp
+++ b/VirtualRobot/Nodes/HemisphereJoint/Maths.cpp
@@ -1,4 +1,4 @@
-#include "Joint.h"
+#include "Maths.h"
#include <cmath>
@@ -9,19 +9,19 @@
namespace VirtualRobot::hemisphere
{
- Joint::Joint() :
- Joint(1, simox::math::deg_to_rad(25.))
+ Maths::Maths() :
+ Maths(1, simox::math::deg_to_rad(25.))
{
}
- Joint::Joint(double lever, double theta0)
+ Maths::Maths(double lever, double theta0)
{
this->setConstants(lever, theta0);
}
- void Joint::setConstants(double lever, double theta0)
+ void Maths::setConstants(double lever, double theta0)
{
this->lever = lever;
this->theta0 = theta0;
@@ -32,25 +32,25 @@ namespace VirtualRobot::hemisphere
}
- void Joint::computeFkOfPosition(double p1, double p2)
+ void Maths::computeFkOfPosition(double p1, double p2)
{
expressions.compute(p1, p2, lever, theta0);
}
- void Joint::computeFkOfPosition(const ActuatorPosition& p12)
+ void Maths::computeFkOfPosition(const ActuatorPosition& p12)
{
computeFkOfPosition(p12(0), p12(1));
}
- void Joint::computeFkOfAngle(const ActuatorAngle& alpha12)
+ void Maths::computeFkOfAngle(const ActuatorAngle& alpha12)
{
computeFkOfPosition(angleToPosition(alpha12));
}
- Eigen::Vector3d Joint::getEndEffectorTranslation() const
+ Eigen::Vector3d Maths::getEndEffectorTranslation() const
{
return Eigen::Vector3d {
expressions.ex,
@@ -60,7 +60,7 @@ namespace VirtualRobot::hemisphere
}
- Eigen::Matrix3d Joint::getEndEffectorRotation() const
+ Eigen::Matrix3d Maths::getEndEffectorRotation() const
{
// r_wrist_to_base = np.array([[exx, eyx, ezx], [exy, eyy, ezy], [exz, eyz, ezz]])
Eigen::Matrix3d ori;
@@ -71,15 +71,15 @@ namespace VirtualRobot::hemisphere
}
- Eigen::Matrix4d Joint::getEndEffectorTransform() const
+ Eigen::Matrix4d Maths::getEndEffectorTransform() const
{
return simox::math::pose(getEndEffectorTranslation(), getEndEffectorRotation());
}
- Joint::Jacobian Joint::getJacobian() const
+ Maths::Jacobian Maths::getJacobian() const
{
- Joint::Jacobian jacobian;
+ Maths::Jacobian jacobian;
jacobian << expressions.jx1, expressions.jx2,
expressions.jy1, expressions.jy2,
expressions.jz1, expressions.jz2,
@@ -127,7 +127,7 @@ namespace VirtualRobot::hemisphere
}
- Joint::ActuatorPosition Joint::angleToPosition(const Joint::ActuatorAngle& alpha) const
+ Maths::ActuatorPosition Maths::angleToPosition(const Maths::ActuatorAngle& alpha) const
{
return lever * Eigen::sin((alpha + Eigen::Vector2d::Constant(theta0)).array());
}
diff --git a/VirtualRobot/Nodes/HemisphereJoint/Joint.h b/VirtualRobot/Nodes/HemisphereJoint/Maths.h
similarity index 94%
rename from VirtualRobot/Nodes/HemisphereJoint/Joint.h
rename to VirtualRobot/Nodes/HemisphereJoint/Maths.h
index f22897dd29fca296e66cc61fadcab0cc73290a65..b4c5cfa4613b77f7273afb09732e88889df968fd 100644
--- a/VirtualRobot/Nodes/HemisphereJoint/Joint.h
+++ b/VirtualRobot/Nodes/HemisphereJoint/Maths.h
@@ -15,7 +15,7 @@ namespace VirtualRobot::hemisphere
* math code that was generated from Python sympy expressions
* using `python/hemisphere-joint-demo/hemisphere_joint_demo/sympy_to_code.py`.
*/
- class Joint
+ class Maths
{
public:
@@ -25,8 +25,8 @@ namespace VirtualRobot::hemisphere
public:
- Joint();
- Joint(double lever, double theta0);
+ Maths();
+ Maths(double lever, double theta0);
void setConstants(double lever, double theta0);
diff --git a/VirtualRobot/Nodes/RobotNodeHemisphere.cpp b/VirtualRobot/Nodes/RobotNodeHemisphere.cpp
index 86a9fe6ffc6cf3bbc8500dec3697b744625b8099..5349a937bd248f6bba3370fc39c5aa2c60beddf4 100644
--- a/VirtualRobot/Nodes/RobotNodeHemisphere.cpp
+++ b/VirtualRobot/Nodes/RobotNodeHemisphere.cpp
@@ -109,16 +109,16 @@ namespace VirtualRobot
void RobotNodeHemisphere::setXmlInfo(const XmlInfo& info)
{
- VR_ASSERT(second.has_value());
+ VR_ASSERT(secondData.has_value());
switch (info.role)
{
case Role::FIRST:
- first.emplace(First{});
- first->math.joint.setConstants(info.lever, info.theta0);
+ firstData.emplace(FirstData{});
+ firstData->maths.maths.setConstants(info.lever, info.theta0);
break;
case Role::SECOND:
- second.emplace(Second{});
+ secondData.emplace(SecondData{});
break;
}
}
@@ -128,17 +128,17 @@ namespace VirtualRobot
SceneObjectPtr parent,
const std::vector<SceneObjectPtr>& children)
{
- VR_ASSERT_MESSAGE(first.has_value() xor second.has_value(), std::stringstream() << first.has_value() << " / " << second.has_value());
+ VR_ASSERT_MESSAGE(firstData.has_value() xor secondData.has_value(), std::stringstream() << firstData.has_value() << " / " << secondData.has_value());
// The second node needs to store a reference to the first node.
- if (second)
+ if (secondData)
{
- VR_ASSERT_MESSAGE(not second->first, "Second must not be initialized yet.");
+ VR_ASSERT_MESSAGE(not secondData->first, "Second must not be initialized yet.");
RobotNodeHemisphere* firstNode = dynamic_cast<RobotNodeHemisphere*>(parent.get());
RobotNodeHemisphere* secondNode = this;
- if (not (firstNode and firstNode->first))
+ if (not (firstNode and firstNode->firstData))
{
std::stringstream ss;
ss << "The parent of a hemisphere joint with role '" << RoleNames.to_name(Role::SECOND) << "' "
@@ -147,11 +147,12 @@ namespace VirtualRobot
}
// Save pointer to firstNode
- second->first = firstNode;
+ secondData->firstNode = firstNode;
+ secondData->secondNode = secondNode;
// Set up robot node parameters.
{
- const hemisphere::Joint& joint = second->math().joint;
+ const hemisphere::Maths& joint = secondData->maths().maths;
firstNode->jointLimitLo = joint.limitLo;
secondNode->jointLimitLo = joint.limitLo;
@@ -165,35 +166,26 @@ namespace VirtualRobot
}
- void RobotNodeHemisphere::JointMath::update(const Eigen::Vector2f& actuators)
- {
- if (actuators != this->actuators)
- {
- joint.computeFkOfAngle(actuators.cast<double>());
- }
- }
-
-
void RobotNodeHemisphere::updateTransformationMatrices(
const Eigen::Matrix4f& parentPose)
{
- VR_ASSERT_MESSAGE(first.has_value() xor second.has_value(), std::stringstream() << first.has_value() << " / " << second.has_value());
+ VR_ASSERT_MESSAGE(firstData.has_value() xor secondData.has_value(), std::stringstream() << firstData.has_value() << " / " << secondData.has_value());
- if (first)
+ if (firstData)
{
globalPose = parentPose * localTransformation;
}
- else if (second)
+ else if (secondData)
{
- VR_ASSERT_MESSAGE(second->first, "First node must be known to second node.");
+ VR_ASSERT_MESSAGE(secondData->first, "First node must be known to second node.");
- JointMath& math = second->math();
- Eigen::Vector2f actuators(second->first->getJointValue(), this->getJointValue());
+ hemisphere::CachedMaths& math = secondData->maths();
+ Eigen::Vector2f actuators(secondData->firstNode->getJointValue(), this->getJointValue());
math.update(actuators);
- Eigen::Vector3d translation = math.joint.getEndEffectorTranslation();
- const Eigen::Matrix3d rotation = math.joint.getEndEffectorRotation();
+ Eigen::Vector3d translation = math.maths.getEndEffectorTranslation();
+ const Eigen::Matrix3d rotation = math.maths.getEndEffectorRotation();
const Eigen::Matrix4d transform = simox::math::pose(translation, rotation);
// Update Second
@@ -202,12 +194,12 @@ namespace VirtualRobot
Eigen::IOFormat iof(5, 0, " ", "\n", " [", "]");
std::cout << __FUNCTION__ << "() of second actuator with "
- << "\n lever = " << math.joint.lever
- << "\n theta0 = " << math.joint.theta0
- << "\n radius = " << math.joint.radius
+ << "\n lever = " << math.maths.lever
+ << "\n theta0 = " << math.maths.theta0
+ << "\n radius = " << math.maths.radius
<< "\n joint value = " << jointValue
<< "\n actuator (angle) = \n" << actuators.transpose().format(iof)
- << "\n actuator (pos) = \n" << math.joint.angleToPosition(actuators.cast<double>()).transpose().format(iof)
+ << "\n actuator (pos) = \n" << math.maths.angleToPosition(actuators.cast<double>()).transpose().format(iof)
<< "\n local transform = \n" << localTransformation.format(iof)
<< "\n joint transform = \n" << transform.format(iof)
<< std::endl;
@@ -219,7 +211,7 @@ namespace VirtualRobot
void RobotNodeHemisphere::print(bool printChildren, bool printDecoration) const
{
ReadLockPtr lock = getRobot()->getReadLock();
- VR_ASSERT_MESSAGE(first.has_value() xor second.has_value(), std::stringstream() << first.has_value() << " / " << second.has_value());
+ VR_ASSERT_MESSAGE(firstData.has_value() xor secondData.has_value(), std::stringstream() << firstData.has_value() << " / " << secondData.has_value());
if (printDecoration)
{
@@ -228,14 +220,14 @@ namespace VirtualRobot
RobotNode::print(false, false);
- if (first)
+ if (firstData)
{
std::cout << "* Hemisphere joint first node";
}
- else if (second)
+ else if (secondData)
{
std::cout << "* Hemisphere joint second node";
- std::cout << "* Transform: \n" << second->math().joint.getEndEffectorTransform() << std::endl;
+ std::cout << "* Transform: \n" << secondData->maths().maths.getEndEffectorTransform() << std::endl;
}
if (printDecoration)
@@ -288,15 +280,15 @@ namespace VirtualRobot
jointValueOffset, physics, colChecker, nodeType));
}
- if (this->first)
+ if (this->firstData)
{
// We can just copy the math object.
- cloned->first = first;
+ cloned->firstData = this->firstData;
}
- else if (this->second)
+ else if (this->secondData)
{
- cloned->second.emplace(Second{});
- // initialize() takes care of hooking up the second to the first.
+ cloned->secondData.emplace(SecondData{});
+ // initialize() takes care of hooking up the second node to the first node.
}
return cloned;
@@ -308,6 +300,27 @@ namespace VirtualRobot
return true;
}
+ bool RobotNodeHemisphere::isFirstHemisphereJointNode() const
+ {
+ return firstData.has_value();
+ }
+
+ bool RobotNodeHemisphere::isSecondHemisphereJointNode() const
+ {
+ return secondData.has_value();
+ }
+
+ const RobotNodeHemisphere::SecondData& RobotNodeHemisphere::getSecondData() const
+ {
+ VR_ASSERT(secondData.has_value());
+ return secondData.value();
+ }
+
+ RobotNodeHemisphere::SecondData& RobotNodeHemisphere::getSecondData()
+ {
+ VR_ASSERT(secondData.has_value());
+ return secondData.value();
+ }
void RobotNodeHemisphere::checkValidRobotNodeType()
{
@@ -318,20 +331,20 @@ namespace VirtualRobot
std::string RobotNodeHemisphere::_toXML(const std::string& /*modelPath*/)
{
- VR_ASSERT_MESSAGE(first.has_value() xor second.has_value(), std::stringstream() << first.has_value() << " / " << second.has_value());
+ VR_ASSERT_MESSAGE(firstData.has_value() xor secondData.has_value(), std::stringstream() << firstData.has_value() << " / " << secondData.has_value());
- if (first)
+ if (firstData)
{
// TODO
return "";
}
else
{
- JointMath& math = second->math();
+ hemisphere::CachedMaths& math = secondData->maths();
std::stringstream ss;
ss << "\t\t<Joint type='Hemisphere'>" << std::endl;
- ss << "\t\t\t<hemisphere lever='" << math.joint.lever << "' theta0='" << math.joint.theta0 << "' />" << std::endl;
+ ss << "\t\t\t<hemisphere lever='" << math.maths.lever << "' theta0='" << math.maths.theta0 << "' />" << std::endl;
ss << "\t\t\t<limits lo='" << jointLimitLo << "' hi='" << jointLimitHi << "' units='radian'/>" << std::endl;
ss << "\t\t\t<MaxAcceleration value='" << maxAcceleration << "'/>" << std::endl;
ss << "\t\t\t<MaxVelocity value='" << maxVelocity << "'/>" << std::endl;
@@ -349,4 +362,28 @@ namespace VirtualRobot
}
}
+ hemisphere::CachedMaths& RobotNodeHemisphere::SecondData::maths()
+ {
+ return firstNode->firstData->maths;
+ }
+
+ const hemisphere::CachedMaths& RobotNodeHemisphere::SecondData::maths() const
+ {
+ return firstNode->firstData->maths;
+ }
+
+ hemisphere::Maths::Jacobian RobotNodeHemisphere::SecondData::getJacobian() const
+ {
+ VR_ASSERT(firstNode);
+ VR_ASSERT(secondNode);
+
+ hemisphere::CachedMaths& maths = firstNode->firstData->maths;
+
+ Eigen::Vector2f actuators(firstNode->getJointValue(), secondNode->getJointValue());
+ maths.update(actuators);
+
+ hemisphere::Maths::Jacobian jacobian = maths.maths.getJacobian();
+ return jacobian;
+ }
+
}
diff --git a/VirtualRobot/Nodes/RobotNodeHemisphere.h b/VirtualRobot/Nodes/RobotNodeHemisphere.h
index 343a20b86d913cb5cea392912e44b5829aa50d25..c3cb17525f1e225c2f2b7bc70ffd4cdfb4ba40aa 100644
--- a/VirtualRobot/Nodes/RobotNodeHemisphere.h
+++ b/VirtualRobot/Nodes/RobotNodeHemisphere.h
@@ -21,10 +21,11 @@
*/
#pragma once
-#include "../VirtualRobot.h"
+#include <VirtualRobot/VirtualRobot.h>
-#include "RobotNode.h"
-#include "HemisphereJoint/Joint.h"
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/Nodes/HemisphereJoint/CachedMaths.h>
+#include <VirtualRobot/Nodes/HemisphereJoint/Maths.h>
#include <Eigen/Core>
@@ -38,17 +39,31 @@ namespace VirtualRobot
using RobotNodeHemispherePtr = std::shared_ptr<class RobotNodeHemisphere>;
+ /**
+ * @brief A model of the 2 DoF wrist joint mechanism published in:
+ *
+ * C. Klas and T. Asfour, "A Compact, Lightweight and Singularity-Free
+ * Wrist Joint Mechanism for Humanoid Robots," 2022 IEEE/RSJ International
+ * Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022,
+ * pp. 457-464, doi: 10.1109/IROS47612.2022.9981787.
+ *
+ * This joint mechanism represents 2 Degrees of Freedom (DoF). Therefore,
+ * it must be represented by two robot nodes in VirtualRobot.
+ */
class VIRTUAL_ROBOT_IMPORT_EXPORT RobotNodeHemisphere : public RobotNode
{
public:
enum class Role
{
+ /// The first DoF in the kinematic chain.
FIRST,
+ /// The second DoF in the kinematic chain.
SECOND,
};
static Role RoleFromString(const std::string& string);
+ /// Information specified in the robot XML.
struct XmlInfo
{
Role role;
@@ -58,8 +73,31 @@ namespace VirtualRobot
double lever = -1;
};
+
+ /// Data held by the first joint.
+ struct FirstData
+ {
+ hemisphere::CachedMaths maths;
+ };
+
+ /// Data held by the second joint.
+ struct SecondData
+ {
+ /// The first actuator node.
+ RobotNodeHemisphere* firstNode = nullptr;
+ RobotNodeHemisphere* secondNode = nullptr;
+
+ hemisphere::CachedMaths& maths();
+ const hemisphere::CachedMaths& maths() const;
+
+ hemisphere::Maths::Jacobian getJacobian() const;
+ };
+
friend class RobotFactory;
+
+ public:
+
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -118,6 +156,15 @@ namespace VirtualRobot
bool
isHemisphereJoint() const override;
+ bool isFirstHemisphereJointNode() const;
+ bool isSecondHemisphereJointNode() const;
+
+ /**
+ * @brief Get the data held by the second node.
+ * May only be called if `isFirstHemisphereJointNode()`;
+ */
+ SecondData& getSecondData();
+ const SecondData& getSecondData() const;
protected:
@@ -140,48 +187,18 @@ namespace VirtualRobot
) override;
RobotNodePtr
- _clone(
- const RobotPtr newRobot,
- const VisualizationNodePtr visualizationModel,
- const CollisionModelPtr collisionModel,
- CollisionCheckerPtr colChecker,
- float scaling
- ) override;
+ _clone(const RobotPtr newRobot,
+ const VisualizationNodePtr visualizationModel,
+ const CollisionModelPtr collisionModel,
+ CollisionCheckerPtr colChecker,
+ float scaling
+ ) override;
- public:
-
- struct JointMath
- {
- /// The actuator values that were used to compute the joint math.
- Eigen::Vector2f actuators = Eigen::Vector2f::Constant(std::numeric_limits<float>::min());
- /// The joint math.
- hemisphere::Joint joint;
-
- void update(const Eigen::Vector2f& actuators);
- };
+ private:
- struct First
- {
- JointMath math;
- };
- std::optional<First> first;
-
- struct Second
- {
- /// The first actuator node.
- RobotNodeHemisphere* first = nullptr;
-
- JointMath& math()
- {
- return first->first->math;
- }
- const JointMath& math() const
- {
- return first->first->math;
- }
- };
- std::optional<Second> second;
+ std::optional<FirstData> firstData;
+ std::optional<SecondData> secondData;
};
diff --git a/VirtualRobot/examples/HemisphereJoint/main.cpp b/VirtualRobot/examples/HemisphereJoint/main.cpp
index 46693a0c20edf8a282074eb70026189f9b75676d..73f38a97a5c1aa15fbd01bb68a30877d81f14322 100644
--- a/VirtualRobot/examples/HemisphereJoint/main.cpp
+++ b/VirtualRobot/examples/HemisphereJoint/main.cpp
@@ -6,20 +6,17 @@
#include <SimoxUtility/math/statistics/measures.h>
#include <VirtualRobot/RuntimeEnvironment.h>
-#include <VirtualRobot/Nodes/HemisphereJoint/Joint.h>
+#include <VirtualRobot/Nodes/HemisphereJoint/Maths.h>
using VirtualRobot::RuntimeEnvironment;
-/**
- *
- */
int main(int argc, char* argv[])
{
const Eigen::IOFormat iof(5, 0, " ", "\n", " [", "]", "", "");
- RuntimeEnvironment::setCaption("Convert .iv to .wrl files");
+ RuntimeEnvironment::setCaption("Compute hemisphere joint mathematics");
RuntimeEnvironment::considerFlag(
"verbose", "Enable verbose output.");
@@ -67,7 +64,7 @@ int main(int argc, char* argv[])
{
const time_point start = std::chrono::system_clock::now();
- VirtualRobot::hemisphere::Joint joint;
+ VirtualRobot::hemisphere::Maths joint;
joint.computeFkOfPosition(a1, a2);
const Eigen::Vector3d pos = joint.getEndEffectorTranslation();
@@ -109,7 +106,7 @@ int main(int argc, char* argv[])
a1 += offset;
a2 += offset;
- VirtualRobot::hemisphere::Joint joint;
+ VirtualRobot::hemisphere::Maths joint;
joint.computeFkOfPosition(a1, a2);
const Eigen::Vector3d pos = joint.getEndEffectorTranslation();