KDL typekit

The use of KDL types in the TaskBrowser

Compiling

You need to check out the rtt_geometry stack which contains the kdl_typekit package here:

 http://github.com/orocos-toolchain/rtt_geometry

and build&install it using the provided Makefile (uses defaults) or CMakeLists.txt (if you want to modify paths).

Importing

Import the kdl_typekit in Orocos by using the 'import' Deployment command in the TaskBrowser or the 'Import' Deployment property in your deployment xml file:

 import("kdl_typekit")

Creation of variables of a KDL type

• Make sure you've loaded the KDL typekit, by checking all available types in the TaskBrowser:

.types

• In the list you should find eg. KDL.Frame, so you can create a variable z of this type by: var KDL.Frame z
• z has a standard value now (Identity frame), there are multiple ways to change it:
  • value by value:

z.p.X=1 or z.M.X_x=2

• • the full position vector

z.p = KDL.Vector(1,2,3)

• • the full rotation matrix

z.M=KDL.Rotation(0,1.57,0) (roll, pitch, yaw angles???)

• You can check the current value by just typing it's variable name, for this example, z.

z

• Look in the KDL typekit for more details