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# Tools/Actorics/Kinematics.h File Reference

Class Kinematics provides methods for robots kinematic calculations. More...

`#include "Tools/Actorics/RobotVertices.h"`
`#include "Representations/Motion/JointData.h"`
`#include "Representations/Perception/SensorData.h"`
`#include "Representations/Perception/CameraMatrix.h"`

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## Classes
class | Kinematics
| Provides Methods for robots kinematic calculations. More...
## Defines
#define | LEFTLEG(leg) ((leg==Kinematics::fl)||(leg==Kinematics::hl))
#define | FORELEG(leg) ((leg==Kinematics::fr)||(leg==Kinematics::fl)||(leg==Kinematics::basefront))
#define | LEGBASE(leg) ((leg==Kinematics::basefront)||(leg==Kinematics::basehind))

## Detailed Description

Class Kinematics provides methods for robots kinematic calculations.

Author:
  Max Risler

  Uwe Düffert

Definition in file Kinematics.h.

## Define Documentation

#define LEFTLEG | ( | leg |  | ) | ((leg==Kinematics::fl)||(leg==Kinematics::hl))

| Definition at line 18 of file Kinematics.h. Referenced by InvKinWalkingEngine::calculateFootPositions(), GT2004WalkingEngine::calculateFootPositions(), Kinematics::kneePositionFromJoints(), Kinematics::legPositionFromJoints(), and Kinematics::transformToLegBase().

#define FORELEG | ( | leg |  | ) | ((leg==Kinematics::fr)||(leg==Kinematics::fl)||(leg==Kinematics::basefront))

| Definition at line 19 of file Kinematics.h. Referenced by InvKinWalkingParameters::allFeetOnGround(), InvKinWalkingEngine::calculateFootPositions(), GT2004WalkingEngine::calculateFootPositions(), InvKinWalkingEngine::calculateRelativeFootPosition(), GT2004WalkingEngine::calculateRelativeFootPosition(), Kinematics::jointsFromLegPosition(), Kinematics::kneePositionFromJoints(), Kinematics::legPositionFromJoints(), and Kinematics::transformToLegBase().

#define LEGBASE | ( | leg |  | ) | ((leg==Kinematics::basefront)||(leg==Kinematics::basehind))

| Definition at line 20 of file Kinematics.h. Referenced by Kinematics::kneePositionFromJoints(), Kinematics::legPositionFromJoints(), and Kinematics::transformToLegBase().