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Orocos Documentation served by ReadTheDocs
License: Creative Commons Attribution Share Alike 4.0 International
I am unable to access the chain and geometry documentation, when redirected the message I get is that I don't have a permission to access that resource, do I need to request permissions?
Thank you.
Hello
I have an existing real-time component that was developed using Orocos on Xenomai
on the component, there is a thread that running not in real-time using pthread
I need to introduce some locking mechanisms due to shared resource
I want to use "std" functions to accomplish it as it seems to me safer and also I know more about this
should I convert the pthread to std::thread?
hi
How do you do?
i tried integrate KDL for aligned the last branch of the robots n one vector.
I not need follow the position just aligned on vector.
i have tried this but not works do you can help me please?
KDL::Chain chain;
KDL::Vector axisX(1.0, 0.0, 0.0);
KDL::Vector axisY(0.0,1.0, 0.0);
KDL::Vector axisZ(0.0, 0.0, 1.0);
KDL::Vector axisQ(0.707107, 0.0, 0.707107);
Joint defineJointZ("axeC", KDL::Vector(0.0, 0.0, 0.0), axisZ, Joint::RotAxis);
Joint defineJointX("axeA", KDL::Vector(0.0, 0.0, 0.0), axisX, Joint::RotAxis);
Joint defineJointY("axeB", KDL::Vector(0.0, 0.0, 0.0), axisY, Joint::RotAxis);
Joint defineJointQ("axeA", KDL::Vector(0.0, 0.0, 0.0), axisQ, Joint::RotAxis);
chain.addSegment(Segment(Joint(Joint::TransX), Frame(Vector(0.0, 0.0, 0.0))));
chain.addSegment(Segment(Joint(Joint::TransY), Frame(Vector(0.0, 0.0, 0.0))));
chain.addSegment(Segment(Joint(Joint::TransZ), Frame(Vector(0.0, 0.0, 0.0))));
chain.addSegment(Segment("axeA", defineJointZ, Frame(Vector(0.0, 0.0, -1.0))));
chain.addSegment(Segment("axeC", defineJointQ, Frame(Vector(0.0, 0.0, -1.0))));
chain.addSegment(Segment("Tool", Joint(Joint::Fixed), Frame(Vector(0.0, 0.0, -1.0))));
//Creation of the solvers:
ChainFkSolverPos_recursive fksolver1(chain);//Forward position solver
ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver
ChainIkSolverPos_NR iksolver1(chain, fksolver1, iksolver1v, 10000, 1e-6);//Maximum 100 iterations, stop at accuracy 1e-6
//Creation of jntarrays:
JntArray q_out(chain.getNrOfJoints());
JntArray q_init(chain.getNrOfJoints());
Rotation rot;
rot.DoRotX(M_PI /2);
double RX, RY, RZ;
rot.GetRPY(RX, RY, RZ);
printf("Rotation \n");
std::cout << (RX * 180) / M_PI << std::endl;
std::cout << (RY * 180) / M_PI << std::endl;
std::cout << (RZ * 180) / M_PI << std::endl;
printf(" \n ");
Frame F_dest = Frame(rot); // point de destination
int ret = iksolver1.CartToJnt(q_init, F_dest, q_out);
for (unsigned int i = 0; i < chain.getNrOfJoints(); i++)
{
std::string name = chain.getSegment(i).getName()+ " ";
printf("joint : %i", i);
printf("%s \n", " ");
std::cout << name;
std::cout << (q_out(i) * 180) / M_PI << std::endl;
}
This project is a new very good approach to gather all documentation related to Orocos together in: Orocos documentation.
Now, the documentation is presented together is good, but if the source of the documentation is decentralized in the different subprojects, it would be even better.
There is a chance to move parts to other repositories. For example, we could move all rtt
content to the rtt
actual repository in the docs
folder, and move all the ocl
documentation to that repository, and keep here what doesn't belong anywhere else.
intersphinx
, that allows to declare remote documentation addresses and link pages very easily with only a prefix for the site name.The main difficulty is to generate the table of contents that is shared in common for the side bar navigation. This documentation site is an example of it.
The developer explains a bit of the technique behind that.
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