ROBOOP::Link Class Reference#include <robot.h>
List of all members.
Detailed Description
Link definitions.
A n degree of freedom (dof) serial manipulator is composed of n links. This class describe the property of a link. A n dof robot has n instance of the class Link.
Definition at line 136 of file robot.h.
|
Public Member Functions |
| Link (const int jt=0, const Real it=0.0, const Real id=0.0, const Real ia=0.0, const Real ial=0.0, const Real theta_min=-M_PI/2, const Real theta_max=M_PI/2, const Real it_off=0.0, const Real mass=1.0, const Real cmx=0.0, const Real cmy=0.0, const Real cmz=0.0, const Real ixx=0.0, const Real ixy=0.0, const Real ixz=0.0, const Real iyy=0.0, const Real iyz=0.0, const Real izz=0.0, const Real iIm=0.0, const Real iGr=0.0, const Real iB=0.0, const Real iCf=0.0, const bool dh=true, const bool min_inertial_para=false) |
| Constructor.
|
| Link (const Link &x) |
| Copy constructor.
|
| ~Link () |
| Destructor.
|
Link & | operator= (const Link &x) |
| Overload = operator.
|
void | transform (const Real q) |
| Set the rotation matrix R and the vector p.
|
bool | get_DH (void) const |
| Return DH value.
|
int | get_joint_type (void) const |
| Return the joint type.
|
Real | get_theta (void) const |
| Return theta.
|
Real | get_d (void) const |
| Return d.
|
Real | get_a (void) const |
| Return a.
|
Real | get_alpha (void) const |
| Return alpha.
|
Real | get_q (void) const |
| Return joint position (theta if joint type is rotoide, d otherwise).
|
Real | get_theta_min (void) const |
| Return theta_min.
|
Real | get_theta_max (void) const |
| Return theta_max.
|
Real | get_joint_offset (void) const |
| Return joint_offset.
|
ReturnMatrix | get_mc (void) |
| Return mc.
|
ReturnMatrix | get_r (void) |
| Return r.
|
ReturnMatrix | get_p (void) const |
| Return p.
|
Real | get_m (void) const |
| Return m.
|
Real | get_Im (void) const |
| Return Im.
|
Real | get_Gr (void) const |
| Return Gr.
|
Real | get_B (void) const |
| Return B.
|
Real | get_Cf (void) const |
| Return Cf.
|
ReturnMatrix | get_I (void) const |
| Return I.
|
bool | get_immobile (void) const |
| Return immobile.
|
void | set_m (const Real m_) |
| Set m.
|
void | set_mc (const ColumnVector &mc_) |
| Set the mass center of gravity position.
|
void | set_r (const ColumnVector &r_) |
| Set the center of gravity position.
|
void | set_Im (const Real Im_) |
| Set Im.
|
void | set_B (const Real B_) |
| Set B.
|
void | set_Cf (const Real Cf_) |
| Set Cf.
|
void | set_I (const Matrix &I) |
| Set the inertia matrix.
|
void | set_immobile (bool im) |
| Set immobile.
|
Public Attributes |
Matrix | R |
| Orientation matrix of actual link w.r.t to previous link.
|
Real | qp |
| Joint velocity.
|
Real | qpp |
| Joint acceleration.
|
Private Attributes |
int | joint_type |
| Joint type.
|
Real | theta |
| theta DH parameter.
|
Real | d |
| d DH parameter.
|
Real | a |
| a DH parameter.
|
Real | alpha |
| alpha DH parameter.
|
Real | theta_min |
| Min joint angle.
|
Real | theta_max |
| Max joint angle.
|
Real | joint_offset |
| Offset in joint angle (rotoide and prismatic).
|
bool | DH |
| DH notation(true) or DH modified notation.
|
bool | min_para |
| Minimum inertial parameter.
|
ColumnVector | r |
| Position of center of mass w.r.t. link coordinate system (min_para=F).
|
ColumnVector | p |
| Position vector of actual link w.r.t to previous link.
|
Real | m |
| Mass of the link.
|
Real | Im |
| Motor Inertia.
|
Real | Gr |
| Gear Ratio.
|
Real | B |
| Viscous coefficient.
|
Real | Cf |
| Coulomb fiction coefficient.
|
ColumnVector | mc |
| Mass center of gravity (used if min_para = true).
|
Matrix | I |
| Inertia matrix w.r.t. center of mass and link coordinate system orientation.
|
bool | immobile |
| true if the joint is to be considered locked - ignored for inverse kinematics, but can still be reassigned through transform
|
Friends |
class | Robot_basic |
class | Robot |
class | mRobot |
class | mRobot_min_para |
Constructor & Destructor Documentation
ROBOOP::Link::Link |
( |
const int |
jt = 0 , |
|
|
const Real |
it = 0.0 , |
|
|
const Real |
id = 0.0 , |
|
|
const Real |
ia = 0.0 , |
|
|
const Real |
ial = 0.0 , |
|
|
const Real |
theta_min = -M_PI/2 , |
|
|
const Real |
theta_max = M_PI/2 , |
|
|
const Real |
it_off = 0.0 , |
|
|
const Real |
mass = 1.0 , |
|
|
const Real |
cmx = 0.0 , |
|
|
const Real |
cmy = 0.0 , |
|
|
const Real |
cmz = 0.0 , |
|
|
const Real |
ixx = 0.0 , |
|
|
const Real |
ixy = 0.0 , |
|
|
const Real |
ixz = 0.0 , |
|
|
const Real |
iyy = 0.0 , |
|
|
const Real |
iyz = 0.0 , |
|
|
const Real |
izz = 0.0 , |
|
|
const Real |
iIm = 0.0 , |
|
|
const Real |
iGr = 0.0 , |
|
|
const Real |
iB = 0.0 , |
|
|
const Real |
iCf = 0.0 , |
|
|
const bool |
dh = true , |
|
|
const bool |
min_inertial_para = false |
|
) |
|
|
ROBOOP::Link::Link |
( |
const Link & |
x |
) |
|
|
ROBOOP::Link::~Link |
( |
|
) |
[inline] |
|
|
Destructor.
Definition at line 153 of file robot.h. |
Member Function Documentation
Real ROBOOP::Link::get_a |
( |
void |
|
) |
const [inline] |
|
Real ROBOOP::Link::get_alpha |
( |
void |
|
) |
const [inline] |
|
Real ROBOOP::Link::get_B |
( |
void |
|
) |
const [inline] |
|
Real ROBOOP::Link::get_Cf |
( |
void |
|
) |
const [inline] |
|
Real ROBOOP::Link::get_d |
( |
void |
|
) |
const [inline] |
|
bool ROBOOP::Link::get_DH |
( |
void |
|
) |
const [inline] |
|
|
Return DH value.
Definition at line 156 of file robot.h. |
Real ROBOOP::Link::get_Gr |
( |
void |
|
) |
const [inline] |
|
|
Return Gr.
Definition at line 171 of file robot.h. |
Real ROBOOP::Link::get_Im |
( |
void |
|
) |
const [inline] |
|
bool ROBOOP::Link::get_immobile |
( |
void |
|
) |
const [inline] |
|
Real ROBOOP::Link::get_joint_offset |
( |
void |
|
) |
const [inline] |
|
int ROBOOP::Link::get_joint_type |
( |
void |
|
) |
const [inline] |
|
|
Return the joint type.
Definition at line 157 of file robot.h.
Referenced by ROBOOP::Robot_basic::convertFrameToLink(), ROBOOP::Robot_basic::convertLink(), ROBOOP::Robot_basic::convertLinkToFrame(), ROBOOP::Robot::dTdqi(), ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), ROBOOP::ERS_Leg_DH(), ROBOOP::Robot_basic::inv_kin(), ROBOOP::Robot_basic::inv_kin_orientation(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), and ROBOOP::Rhino_mDH(). |
Real ROBOOP::Link::get_m |
( |
void |
|
) |
const [inline] |
|
|
Return mc.
Definition at line 166 of file robot.h. |
Real ROBOOP::Link::get_q |
( |
void |
|
) |
const |
|
Real ROBOOP::Link::get_theta |
( |
void |
|
) |
const [inline] |
|
Real ROBOOP::Link::get_theta_max |
( |
void |
|
) |
const [inline] |
|
|
Return theta_max.
Definition at line 164 of file robot.h. |
Real ROBOOP::Link::get_theta_min |
( |
void |
|
) |
const [inline] |
|
|
Return theta_min.
Definition at line 163 of file robot.h. |
Link & ROBOOP::Link::operator= |
( |
const Link & |
x |
) |
|
|
|
Overload = operator.
Definition at line 255 of file robot.cpp. |
void ROBOOP::Link::set_B |
( |
const Real |
B_ |
) |
[inline] |
|
void ROBOOP::Link::set_Cf |
( |
const Real |
Cf_ |
) |
[inline] |
|
void ROBOOP::Link::set_I |
( |
const Matrix & |
I |
) |
|
|
void ROBOOP::Link::set_Im |
( |
const Real |
Im_ |
) |
[inline] |
|
void ROBOOP::Link::set_immobile |
( |
bool |
im |
) |
[inline] |
|
void ROBOOP::Link::set_m |
( |
const Real |
m_ |
) |
[inline] |
|
|
Set the mass center of gravity position.
Definition at line 368 of file robot.cpp. |
|
Set the center of gravity position.
Definition at line 359 of file robot.cpp. |
void ROBOOP::Link::transform |
( |
const Real |
q |
) |
|
|
Friends And Related Function Documentation
friend class Robot [friend] |
|
Member Data Documentation
|
d DH parameter.
Definition at line 191 of file robot.h.
Referenced by get_d(), get_q(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), ROBOOP::Robot::inv_kin_rhino(), Link(), operator=(), and transform(). |
The documentation for this class was generated from the following files:
|