681 Introduction to Computer Graphics

1
Forward Kinematics
2
Specifying a Pose
3
Link and Node Representation
transformation
transformation
data
geometry
4
Tree Traversal
T
Link
NodePtr
T
Node
DataPtr
LinkPtr
5
Example Figure
6
Tree Traversal
M I
T0
M T0
M T0T1.1
T1.1
T2.1
M T0T1.1T1.2
T1.2
T2.2
M T0T1.1
M T0
M T0T2.1
M T0T2.1T2.2
7
Articulated Figure Representation
8
Link and Node Representation
Transformation (fixed)
Transformation (changeable)
transformation
data
geometry
9
Tree Traversal
M I
T0
M T0
T1.1
M T0T1.1R1.1
T2.1
R2.1
R1.1
M T0T1.1R1.1T1.2R1.2
M T0T1.1R1.1
T2.2
T1.2
M T0
R2.2
R1.2
M T0T2.1R2.1
M T0T2.1T2.2R2.2
10
Tree Traversal
T0
How do you represent more than one degree of
freedom at a joint?
T1.1
T2.1
R2.1
R1.1
T2.2
T1.2
R2.2
R1.2