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Commit 9f6d52c6 authored by vahrenkamp's avatar vahrenkamp
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Updated docu according to changes in Joint/RobotNode transformations (no... 

Updated docu according to changes in Joint/RobotNode transformations (no pre/postJoint Transformations, uniform transformation in RobotNode).

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@429 042f3d55-54a8-47e9-b7fb-15903f145c44
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doc/file_format/Joint.pdf
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doc/file_format/Joint_open.pdf deleted 100644 → 0
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doc/file_format/RobotNode.pdf
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doc/file_format/Sensor.pdf 0 → 100644
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doc/tutorial/robot_howto3.xml
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− 15
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...@@ -2,22 +2,20 @@ ...@@ -2,22 +2,20 @@
<Robot Type="DemoRobot" RootNode="root"> <Robot Type="DemoRobot" RootNode="root">
<RobotNode name="root"> <RobotNode name="root">
<Child name="joint 1"/> <Child name="joint 1"/>
</RobotNode> </RobotNode>
<RobotNode name="joint 1"> <RobotNode name="joint 1">
<Joint type="revolute"> <Transform>
<Translation x="0" y="500" z="0"/>
</Transform>
<Joint type="revolute">
<Axis x="0" y="0" z="1"/> <Axis x="0" y="0" z="1"/>
<PostJointTransform> </Joint>
<Transform> <Visualization>
<Translation x="0" y="500" z="0"/> <File type="Inventor">iv/joint.iv</File>
</Transform>
</PostJointTransform>
</Joint>
<Visualization>
<File type="Inventor">iv/joint.iv</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
</Robot> </Robot>
doc/tutorial/robot_howto4.xml
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− 38
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...@@ -3,64 +3,58 @@ ...@@ -3,64 +3,58 @@
<Robot Type="DemoRobot" RootNode="root"> <Robot Type="DemoRobot" RootNode="root">
<RobotNode name="root"> <RobotNode name="root">
<Child name="joint 1"/> <Child name="joint 1"/>
</RobotNode> </RobotNode>
<RobotNode name="joint 1"> <RobotNode name="joint 1">
<Joint type="revolute"> <Joint type="revolute">
<Axis x="0" y="0" z="1"/> <Axis x="0" y="0" z="1"/>
<PostJointTransform>
<Transform>
<Translation x="0" y="500" z="0"/>
</Transform>
</PostJointTransform>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">iv/joint.iv</File> <File type="Inventor">iv/joint.iv</File>
</Visualization> </Visualization>
<Child name="node 1"/> <Child name="node 1"/>
</RobotNode> </RobotNode>
<RobotNode name="node 1"> <RobotNode name="node 1">
<Visualization> <Transform>
<Translation x="0" y="500" z="0"/>
</Transform>
<Visualization>
<File type="Inventor">iv/ball.iv</File> <File type="Inventor">iv/ball.iv</File>
</Visualization> </Visualization>
<Child name="joint 2"/> <Child name="joint 2"/>
</RobotNode> </RobotNode>
<RobotNode name="joint 2"> <RobotNode name="joint 2">
<Joint type="revolute"> <Joint type="revolute">
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
<PostJointTransform> </Joint>
<Transform> <Visualization>
<Translation x="0" y="0" z="500"/>
</Transform>
</PostJointTransform>
</Joint>
<Visualization>
<File type="Inventor">iv/joint2.iv</File> <File type="Inventor">iv/joint2.iv</File>
</Visualization> </Visualization>
<Child name="node 2"/> <Child name="node 2"/>
</RobotNode> </RobotNode>
<RobotNode name="node 2"> <RobotNode name="node 2">
<Visualization> <Transform>
<Translation x="0" y="0" z="500"/>
</Transform>
<Visualization>
<File type="Inventor">iv/ball.iv</File> <File type="Inventor">iv/ball.iv</File>
</Visualization> </Visualization>
<Child name="joint 3"/> <Child name="joint 3"/>
</RobotNode> </RobotNode>
<RobotNode name="joint 3"> <RobotNode name="joint 3">
<Joint type="revolute"> <Transform>
<Axis x="1" y="0" z="0"/> <Translation x="0" y="500" z="0"/>
<PostJointTransform> </Transform>
<Transform> <Joint type="revolute">
<Translation x="0" y="500" z="0"/> <Axis x="1" y="0" z="0"/>
</Transform>
</PostJointTransform>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">iv/joint.iv</File> <File type="Inventor">iv/joint.iv</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
</Robot> </Robot>
doc/tutorial/robot_howto5.xml
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− 14
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...@@ -10,28 +10,28 @@ ...@@ -10,28 +10,28 @@
<Joint type="revolute"> <Joint type="revolute">
<DH a="0" d="500" alpha="-90" theta="0" units="degree"/> <DH a="0" d="500" alpha="-90" theta="0" units="degree"/>
<Limits lo="0" hi="120" units="degree"/> <Limits lo="0" hi="120" units="degree"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">iv/joint2.iv</File> <File type="Inventor">iv/joint2.iv</File>
</Visualization> </Visualization>
<Child name="node 1"/> <Child name="node 1"/>
</RobotNode> </RobotNode>
<RobotNode name="node 1"> <RobotNode name="node 1">
<Visualization> <Visualization>
<File type="Inventor">iv/ball.iv</File> <File type="Inventor">iv/ball.iv</File>
</Visualization> </Visualization>
<Child name="joint 2"/> <Child name="joint 2"/>
</RobotNode> </RobotNode>
<RobotNode name="joint 2"> <RobotNode name="joint 2">
<Joint type="revolute"> <Joint type="revolute">
<DH a="0" d="500" alpha="90" theta="0" units="degree"/> <DH a="0" d="500" alpha="90" theta="0" units="degree"/>
<Limits lo="-45" hi="45" units="degree"/> <Limits lo="-45" hi="45" units="degree"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">iv/joint2.iv</File> <File type="Inventor">iv/joint2.iv</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
</Robot> </Robot>
doc/tutorial/robot_howto6.xml
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...@@ -2,70 +2,70 @@ ...@@ -2,70 +2,70 @@
<Robot Type="DemoRobot" RootNode="root"> <Robot Type="DemoRobot" RootNode="root">
<RobotNode name="root"> <RobotNode name="root">
<Child name="Finger Joint1"/> <Child name="Finger Joint1"/>
</RobotNode> </RobotNode>
<RobotNode name="Finger Joint1"> <RobotNode name="Finger Joint1">
<Joint type="revolute"> <Joint type="revolute">
<DH a="14.8" d="0" theta="0" alpha="90" units="degree"/> <DH a="14.8" d="0" theta="0" alpha="90" units="degree"/>
<Limits unit="degree" lo="-25" hi="25"/> <Limits unit="degree" lo="-25" hi="25"/>
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">iv/LeftIndexFinger/leftIndexFinger0.iv</File> <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger0.iv</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger0.iv</File> <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger0.iv</File>
</CollisionModel> </CollisionModel>
<Child name="BaseToFinger"/> <Child name="BaseToFinger"/>
</RobotNode> </RobotNode>
<RobotNode name="BaseToFinger"> <RobotNode name="BaseToFinger">
<Joint type="fixed"> <Joint type="fixed">
<DH a="0" d="1.75" theta="0" alpha="0" units="degree"/> <DH a="0" d="1.75" theta="0" alpha="0" units="degree"/>
</Joint> </Joint>
<Child name="Finger Joint2"/> <Child name="Finger Joint2"/>
</RobotNode> </RobotNode>
<RobotNode name="Finger Joint2"> <RobotNode name="Finger Joint2">
<Joint type="revolute"> <Joint type="revolute">
<DH a="25.9" d="0" theta="0" alpha="0" units="degree"/> <DH a="25.9" d="0" theta="0" alpha="0" units="degree"/>
<Limits unit="degree" lo="0" hi="90"/> <Limits unit="degree" lo="0" hi="90"/>
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">iv/LeftIndexFinger/leftIndexFinger1.iv</File> <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger1.iv</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger1.iv</File> <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger1.iv</File>
</CollisionModel> </CollisionModel>
<Child name="Finger Joint3"/> <Child name="Finger Joint3"/>
</RobotNode> </RobotNode>
<RobotNode name="Finger Joint3"> <RobotNode name="Finger Joint3">
<Joint type="revolute"> <Joint type="revolute">
<DH a="22" d="0" theta="0" alpha="0" units="degree"/> <DH a="22" d="0" theta="0" alpha="0" units="degree"/>
<Limits unit="degree" lo="0" hi="90"/> <Limits unit="degree" lo="0" hi="90"/>
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">iv/LeftIndexFinger/leftIndexFinger2.iv</File> <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger2.iv</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger2.iv</File> <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger2.iv</File>
</CollisionModel> </CollisionModel>
<Child name="Finger Joint4"/> <Child name="Finger Joint4"/>
</RobotNode> </RobotNode>
<RobotNode name="Finger Joint4"> <RobotNode name="Finger Joint4">
<Joint type="revolute"> <Joint type="revolute">
<DH a="0" d="0" theta="0" alpha="0" units="degree"/> <DH a="0" d="0" theta="0" alpha="0" units="degree"/>
<Limits unit="degree" lo="0" hi="90"/> <Limits unit="degree" lo="0" hi="90"/>
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">iv/LeftIndexFinger/leftIndexFingerTip.iv</File> <File type="Inventor">iv/LeftIndexFinger/leftIndexFingerTip.iv</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">iv/LeftIndexFinger/col_leftIndexFingerTip.iv</File> <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFingerTip.iv</File>
</CollisionModel> </CollisionModel>
</RobotNode> </RobotNode>
</Robot> </Robot>
doc/tutorial/robot_howto7b.xml
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<?xml version="1.0" encoding="UTF-8" ?> <?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="robot2" RootNode="node1"> <Robot Type="robot2" RootNode="node1">
<RobotNode name="node1"> <RobotNode name="node1">
<Child name="node2"/> <Child name="node2"/>
<Child name="node3"/> <Child name="node3"/>
</RobotNode> </RobotNode>
<RobotNode name="node2"> <RobotNode name="node2">
<Joint> <Transform>
<PreJointTransform> <Translation x="0" y="500" z="0"/>
<Transform> </Transform>
<Translation x="0" y="500" z="0"/> <Visualization enable="true">
</Transform> <CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP1"/>
</PreJointTransform> </Visualization>
</Joint> </RobotNode>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP1"/> <RobotNode name="node3">
</Visualization> <Transform>
</RobotNode> <Translation x="0" y="-500" z="0"/>
</Transform>
<RobotNode name="node3"> <Visualization enable="true">
<Joint> <CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP2"/>
<PreJointTransform> </Visualization>
<Transform> </RobotNode>
<Translation x="0" y="-500" z="0"/>
</Transform>
</PreJointTransform>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP2"/>
</Visualization>
</RobotNode>
</Robot> </Robot>
doc/tutorial/robot_howto8.xml
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...@@ -3,78 +3,75 @@ ...@@ -3,78 +3,75 @@
<Robot Type="DemoRobot" RootNode="root"> <Robot Type="DemoRobot" RootNode="root">
<RobotNode name="root"> <RobotNode name="root">
<Child name="joint 1"/> <Child name="joint 1"/>
</RobotNode> </RobotNode>
<RobotNode name="joint 1"> <RobotNode name="joint 1">
<Joint type="revolute"> <Joint type="revolute">
<Axis x="0" y="0" z="1"/> <Axis x="0" y="0" z="1"/>
<PostJointTransform> </Joint>
<Transform> <Visualization>
<Translation x="0" y="500" z="0"/> <File type="Inventor">iv/joint.iv</File>
</Transform> </Visualization>
</PostJointTransform> <Child name="node 1"/>
</Joint>
<Visualization>
<File type="Inventor">iv/joint.iv</File>
</Visualization>
<Child name="node 1"/>
</RobotNode> </RobotNode>
<RobotNode name="node 1"> <RobotNode name="node 1">
<Visualization> <Transform>
<File type="Inventor">iv/ball.iv</File> <Translation x="0" y="500" z="0"/>
</Visualization> </Transform>
<Child name="joint 2"/> <Visualization>
<File type="Inventor">iv/ball.iv</File>
</Visualization>
<Child name="joint 2"/>
</RobotNode> </RobotNode>
<RobotNode name="joint 2"> <RobotNode name="joint 2">
<Joint type="revolute"> <Joint type="revolute">
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
<PostJointTransform> </Joint>
<Transform> <Visualization>
<Translation x="0" y="0" z="500"/> <File type="Inventor">iv/joint2.iv</File>
</Transform> </Visualization>
</PostJointTransform> <Child name="node 2"/>
</Joint>
<Visualization>
<File type="Inventor">iv/joint2.iv</File>
</Visualization>
<Child name="node 2"/>
</RobotNode> </RobotNode>
<RobotNode name="node 2"> <RobotNode name="node 2">
<Transform>
<Translation x="0" y="0" z="500"/>
</Transform>
<Visualization> <Visualization>
<File type="Inventor">iv/ball.iv</File> <File type="Inventor">iv/ball.iv</File>
</Visualization> </Visualization>
<Child name="joint 3"/> <Child name="joint 3"/>
</RobotNode> </RobotNode>
<RobotNode name="joint 3"> <RobotNode name="joint 3">
<Transform>
<Translation x="0" y="0" z="500"/>
</Transform>
<Joint type="revolute"> <Joint type="revolute">
<Axis x="1" y="0" z="0"/> <Axis x="1" y="0" z="0"/>
<PostJointTransform> </Joint>
<Transform>
<Translation x="0" y="500" z="0"/>
</Transform>
</PostJointTransform>
</Joint>
<Visualization> <Visualization>
<File type="Inventor">iv/joint.iv</File> <File type="Inventor">iv/joint.iv</File>
</Visualization> </Visualization>
<Child name="tcp"/> <Child name="tcp"/>
</RobotNode> </RobotNode>
<RobotNode name="tcp"> <RobotNode name="tcp">
<Transform>
<Translation x="0" y="500" z="0"/>
</Transform>
<Visualization> <Visualization>
<File type="Inventor">iv/ball.iv</File> <File type="Inventor">iv/ball.iv</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
<RobotNodeSet name="my kinematic chain" kinematicRoot="joint1" tcp="tcp"> <RobotNodeSet name="my kinematic chain" kinematicRoot="joint1" tcp="tcp">
<Node name="joint 1"/> <Node name="joint 1"/>
<Node name="joint 2"/> <Node name="joint 2"/>
<Node name="joint 3"/> <Node name="joint 3"/>
</RobotNodeSet> </RobotNodeSet>
</Robot> </Robot>
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