Package intrinsic_proto
Messages
message Affine3d intrinsic/math/proto/affine.proto
Represents an affine 3D transformation composed of a linear part (containing rotation and scaling) and a position. Usually it is composed from position * rotation * scaling.
| Field | Type | Description | |
|---|---|---|---|
| 1 | linear |
intrinsic_proto.Matrixd
|
A 3x3 linear matrix containing the rotation and scaling of the affine transformation. |
| 2 | translation |
intrinsic_proto.Point
|
The translational part of the affine transformation. |
message CoordinateFrame intrinsic/kinematics/proto/kinematics.proto
A reflexion of intrinsic::kinematics::CoordinateFrame
| Field | Type | Description | |
|---|---|---|---|
| 1 | element |
intrinsic_proto.Element
|
message Dynamics (Nested in intrinsic_proto.Joint.Parameters ) intrinsic/kinematics/proto/kinematics.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | static_friction |
double
|
|
| 2 | damping |
double
|
message Element intrinsic/kinematics/proto/kinematics.proto
A reflexion of intrinsic::kinematics::Element
| Field | Type | Description | |
|---|---|---|---|
| 1 | id |
uint32
|
The id local to a kinematic skeleton |
| 2 | name |
string
|
|
| 3 | parent_t_this |
intrinsic_proto.Pose
|
|
| 4 | parent |
uint32
|
|
| 5 | children |
repeated
uint32
|
message Joint intrinsic/kinematics/proto/kinematics.proto
A reflexion of intrinsic::kinematics::Joint
| Field | Type | Description | |
|---|---|---|---|
| 1 | element |
intrinsic_proto.Element
|
|
| 2 | parameters |
intrinsic_proto.Joint.Parameters
|
|
| 5 | linear_dependency |
optional
intrinsic_proto.Joint.LinearDependency
|
message JointLimitUpdate intrinsic/kinematics/types/joint_limits.proto
Specifies an update to apply on top of a existing limits. While the fields are "the same" as the normal limit protos, they have different usage. * Any field may be not provided (or empty) in which case no update is made to the limits this update is applied on. * Any field that is not empty will replace the original value. It must have the same size as the field it replaces in limits.
| Field | Type | Description | |
|---|---|---|---|
| 1 | min_position |
optional
double
|
Lower joint position limits allow to restrict the object joint movement in joint space. Each joint of the object has lower (min) and upper (max) limits. The specified limits need to be within the object limits. |
| 2 | max_position |
optional
double
|
Upper joint position limits allow to restrict the object joint movement in joint space. Each joint of the object has lower (min) and upper (max) limits. The specified limits need to be within the object limits. |
| 3 | max_velocity |
optional
double
|
Maximum joint velocity limits per joint. Units are in meters, radians, or degrees per second. When not specified, the limits of the object will be used. |
| 4 | max_acceleration |
optional
double
|
Max joint acceleration limits per joint. Units are in meters, radians, or degrees per second^2. When not specified, the acceleration limits from the object limits will be used. |
| 5 | max_jerk |
optional
double
|
Maximum joint jerk limits for the object. Units are in meters, radians, or degrees per second^3. When not specified, the jerk limits from the object limits will be used. |
| 6 | max_effort |
optional
double
|
Maximum joint jerk limits for the object. When not specified, the effort limits from the object limits will be used. |
message JointLimits intrinsic/kinematics/types/joint_limits.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | min_position |
intrinsic_proto.RepeatedDouble
|
Units are radians, newton-meter or meter, newton When not specified, it is assumed to be unlimited and unenfforced velocity, acceleration, jerk and effort are symmetrical limits. |
| 2 | max_position |
intrinsic_proto.RepeatedDouble
|
|
| 3 | max_velocity |
optional
intrinsic_proto.RepeatedDouble
|
|
| 4 | max_acceleration |
optional
intrinsic_proto.RepeatedDouble
|
|
| 5 | max_jerk |
optional
intrinsic_proto.RepeatedDouble
|
|
| 6 | max_effort |
optional
intrinsic_proto.RepeatedDouble
|
message JointLimitsUpdate intrinsic/kinematics/types/joint_limits.proto
Specifies an update to apply on top of an existing JointLimits message. While the fields are "the same", they have different usage. * Any field may be not provided (or empty) in which case no update is made to the JointLimits this update is applied on. * Any field that is not empty will replace the original value. It must have the same size as the field it replaces in JointLimits.
| Field | Type | Description | |
|---|---|---|---|
| 1 | min_position |
optional
intrinsic_proto.RepeatedDouble
|
Lower joint position limits allow to restrict the object joint movement in joint space. Each joint of the object has lower (min) and upper (max) limits. The specified limits need to be within the object limits. |
| 2 | max_position |
optional
intrinsic_proto.RepeatedDouble
|
Upper joint position limits allow to restrict the object joint movement in joint space. Each joint of the object has lower (min) and upper (max) limits. The specified limits need to be within the object limits. |
| 3 | max_velocity |
optional
intrinsic_proto.RepeatedDouble
|
Maximum joint velocity limits per joint. Units are in meters, radians, or degrees per second. When not specified, the limits of the object will be used. |
| 4 | max_acceleration |
optional
intrinsic_proto.RepeatedDouble
|
Max joint acceleration limits per joint. Units are in meters, radians, or degrees per second^2. When not specified, the acceleration limits from the object limits will be used. |
| 5 | max_jerk |
optional
intrinsic_proto.RepeatedDouble
|
Maximum joint jerk limits for the object. Units are in meters, radians, or degrees per second^3. When not specified, the jerk limits from the object limits will be used. |
| 6 | max_effort |
optional
intrinsic_proto.RepeatedDouble
|
Maximum joint jerk limits for the object. When not specified, the effort limits from the object limits will be used. |
message LimitPair intrinsic/kinematics/proto/kinematics.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | lower |
double
|
|
| 2 | upper |
double
|
message Limits intrinsic/kinematics/proto/kinematics.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | position |
intrinsic_proto.LimitPair
|
|
| 2 | velocity |
double
|
|
| 3 | acceleration |
double
|
|
| 4 | jerk |
double
|
|
| 5 | effort |
double
|
message LinearDependency (Nested in intrinsic_proto.Joint ) intrinsic/kinematics/proto/kinematics.proto
Defines a joint dependency, which is used to compute a joint's 'derived'
value from a weighted (linear) combination of 'input' joint values.
Dependencies are defined as general form q_derived[i] =
alpha_selfq_input[i] + alpha[i-1]q_input[i-1]+...+
alpha[i-k]*q_input[i-k]. By definition 'q_derived' is a minimal joint
coordinate (e.g. DH parameterization) usable in standard rigid body
kinematics algorithms. alpha_self is the scaling factor for the input
value of the joint's own DoF. Preceding joints, that the given joint
depends on, are termed 'leading' joints. Non-zero scaling factors for
leading joints, alpha[i-k], are defined in the mapalpha_leading`, where
leading joints are keyed by their Element Ids.
Only fully actuated leading joints are supported, i.e. they must not be
dependent joints themselves.
| Field | Type | Description | |
|---|---|---|---|
| 1 | alpha_self |
double
|
Scaling factor for the actuation of the joint's own DoF. |
| 2 | alpha_leading |
map<uint32, double>
|
Map from element id to scaling factor alpha for leading joints. |
message Link intrinsic/kinematics/proto/kinematics.proto
A reflexion of intrinsic::kinematics::Link
| Field | Type | Description | |
|---|---|---|---|
| 1 | element |
intrinsic_proto.Element
|
|
| 2 | parameters |
intrinsic_proto.Link.Parameters
|
message Matrixd intrinsic/math/proto/matrix.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | rows |
int32
|
|
| 2 | cols |
int32
|
|
| 3 | values |
repeated
double
|
Stores the values of a matrix in column-major order. |
message Parameters (Nested in intrinsic_proto.Joint ) intrinsic/kinematics/proto/kinematics.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | type |
intrinsic_proto.Joint.Type
|
|
| 2 | axis |
intrinsic_proto.Point
|
|
| 3 | system_limits |
intrinsic_proto.Limits
|
|
| 4 | soft_limits |
intrinsic_proto.Limits
|
|
| 5 | dynamics |
intrinsic_proto.Joint.Parameters.Dynamics
|
|
| 6 | default_configuration |
double
|
message Parameters (Nested in intrinsic_proto.Link ) intrinsic/kinematics/proto/kinematics.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | mass |
double
|
|
| 2 | center_of_gravity |
intrinsic_proto.Pose
|
|
| 3 | inertia |
intrinsic_proto.Matrixd
|
message Point intrinsic/math/proto/point.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | x |
double
|
|
| 2 | y |
double
|
|
| 3 | z |
double
|
message Pose intrinsic/math/proto/pose.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | position |
intrinsic_proto.Point
|
|
| 2 | orientation |
intrinsic_proto.Quaternion
|
message Quaternion intrinsic/math/proto/quaternion.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | x |
double
|
|
| 2 | y |
double
|
|
| 3 | z |
double
|
|
| 4 | w |
double
|
message RepeatedDouble intrinsic/kinematics/types/joint_limits.proto
We wrap the repeated double into its own message so we can have optional and repeated
| Field | Type | Description | |
|---|---|---|---|
| 1 | values |
repeated
double
|
message Skeleton intrinsic/kinematics/proto/skeleton.proto
A reflexion of intrinsic::kinematics::Skeleton
| Field | Type | Description | |
|---|---|---|---|
| 1 | name |
string
|
|
| 2 | anchor_offset |
intrinsic_proto.Pose
|
|
| 3 | links |
repeated
intrinsic_proto.Link
|
|
| 4 | joints |
repeated
intrinsic_proto.Joint
|
|
| 5 | coordinate_frames |
repeated
intrinsic_proto.CoordinateFrame
|
|
| 6 | element_id_to_dof_index |
map<uint32, uint32>
|
message Vector3 intrinsic/math/proto/vector3.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | x |
double
|
|
| 2 | y |
double
|
|
| 3 | z |
double
|
Enums
enum DynamicLimitsCheckMode intrinsic/kinematics/types/dynamic_limits_check_mode.proto
This enum class indicates the limits a joint position command is guaranteeing
to abide by. For instance,
DYNAMIC_LIMITS_CHECK_MODE_CHECK_JOINT_ACCELERATION denotes it should
satisfy joint acceleration limits, while
DYNAMIC_LIMITS_CHECK_MODE_CHECK_NONE will not check joint acceleration
limits. Joint position and velocity constraints are always satisfied.
| Name | Number | Description |
|---|---|---|
DYNAMIC_LIMITS_CHECK_MODE_TYPE_UNSPECIFIED |
0 | |
DYNAMIC_LIMITS_CHECK_MODE_CHECK_JOINT_ACCELERATION |
1 | |
DYNAMIC_LIMITS_CHECK_MODE_CHECK_NONE |
2 |
enum Type intrinsic/kinematics/proto/kinematics.proto
| Name | Number | Description |
|---|---|---|
REVOLUTE |
0 | |
PRISMATIC |
1 | |
FIXED |
2 |