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ROBOOP::Link Class Reference#include <robot.h>
Detailed DescriptionLink 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.
Constructor & Destructor Documentation
Member Function Documentation
Set the rotation matrix R and the vector p.
Definition at line 285 of file robot.cpp. Referenced by ROBOOP::Robot_basic::set_q().
Return the joint type.
Definition at line 157 of file robot.h. Referenced by ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), ROBOOP::ERS_Leg_DH(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), and ROBOOP::Rhino_mDH().
Return theta.
Definition at line 158 of file robot.h. Referenced by ROBOOP::Crab_Arm_DH(), ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), ROBOOP::ERS_Leg_DH(), and ROBOOP::Goose_Neck_DH().
Return d.
Definition at line 159 of file robot.h. Referenced by ROBOOP::Robot_basic::convertFrameToLink(), ROBOOP::Robot_basic::convertLink(), ROBOOP::Robot_basic::convertLinkToFrame(), ROBOOP::Robot::goose_neck_angles(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), and ROBOOP::Rhino_mDH().
Return a.
Definition at line 160 of file robot.h. Referenced by ROBOOP::Robot::goose_neck_angles(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), and ROBOOP::Rhino_mDH().
Return alpha.
Definition at line 161 of file robot.h. Referenced by ROBOOP::Crab_Arm_DH(), ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), ROBOOP::ERS_Leg_DH(), ROBOOP::Goose_Neck_DH(), ROBOOP::PanTilt_DH(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), and ROBOOP::Rhino_mDH().
Return joint position (theta if joint type is rotoide, d otherwise). The joint offset is removed from the value. Definition at line 346 of file robot.cpp. Referenced by ROBOOP::Robot::computeFirstERSLink(), ROBOOP::Robot::computeSecondERSLink(), ROBOOP::Robot::computeThirdERSLink(), ROBOOP::Robot_basic::get_available_q(), and ROBOOP::Robot_basic::get_q().
Return theta_min.
Definition at line 163 of file robot.h. Referenced by ROBOOP::Robot::inv_kin_pan_tilt().
Return theta_max.
Definition at line 164 of file robot.h. Referenced by ROBOOP::Robot::inv_kin_pan_tilt().
Return joint_offset.
Definition at line 165 of file robot.h. Referenced by ROBOOP::Robot_basic::convertFrameToLink(), ROBOOP::Robot_basic::convertLink(), and ROBOOP::Robot_basic::convertLinkToFrame().
Return immobile.
Definition at line 175 of file robot.h. Referenced by ROBOOP::Crab_Arm_DH(), ROBOOP::Goose_Neck_DH(), and ROBOOP::PanTilt_DH().
Set I. Set the inertia matrix. Definition at line 382 of file robot.cpp. Referenced by ROBOOP::perturb_robot().
Set immobile.
Definition at line 183 of file robot.h. Referenced by ROBOOP::Robot_basic::Robot_basic().
Friends And Related Function Documentation
Member Data DocumentationOrientation matrix of actual link w.r.t to previous link.
Definition at line 185 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::Robot_basic::convertFrame(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::dTdqi(), ROBOOP::mRobot::dTdqi(), ROBOOP::Robot::dTdqi(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::Robot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), ROBOOP::mRobot_min_para::kine_pd(), ROBOOP::mRobot::kine_pd(), ROBOOP::Robot::kine_pd(), Link(), operator=(), ROBOOP::Robot_basic::set_q(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and transform(). Joint velocity.
Definition at line 186 of file robot.h. Referenced by ROBOOP::Robot_basic::get_available_qp(), ROBOOP::Robot_basic::get_qp(), Link(), operator=(), and ROBOOP::Robot_basic::set_qp(). Joint acceleration.
Definition at line 186 of file robot.h. Referenced by ROBOOP::Robot_basic::get_available_qpp(), ROBOOP::Robot_basic::get_qpp(), Link(), and operator=().
Joint type.
Definition at line 190 of file robot.h. Referenced by get_joint_type(), get_q(), Link(), operator=(), and transform().
theta DH parameter.
Definition at line 191 of file robot.h. Referenced by get_q(), get_theta(), Link(), operator=(), and transform().
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().
a DH parameter.
Definition at line 191 of file robot.h. Referenced by get_a(), 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().
alpha DH parameter.
Definition at line 191 of file robot.h. Referenced by get_alpha(), Link(), and operator=().
Min joint angle.
Definition at line 191 of file robot.h. Referenced by get_theta_min(), and operator=().
Max joint angle.
Definition at line 191 of file robot.h. Referenced by get_theta_max(), and operator=().
Offset in joint angle (rotoide and prismatic).
Definition at line 191 of file robot.h. Referenced by get_joint_offset(), get_q(), Link(), operator=(), and transform().
DH notation(true) or DH modified notation.
Definition at line 198 of file robot.h. Referenced by ROBOOP::Robot_basic::get_DH(), get_DH(), Link(), operator=(), and transform().
Minimum inertial parameter.
Definition at line 198 of file robot.h. Referenced by Link(), and operator=().
Position vector of actual link w.r.t to previous link.
Definition at line 200 of file robot.h. Referenced by ROBOOP::Robot_basic::convertFrame(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::mRobot_min_para::dTdqi(), ROBOOP::mRobot::dTdqi(), ROBOOP::Robot::dTdqi(), get_p(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::Robot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), ROBOOP::mRobot_min_para::kine_pd(), ROBOOP::mRobot::kine_pd(), ROBOOP::Robot::kine_pd(), Link(), operator=(), ROBOOP::Robot_basic::set_q(), and transform().
Mass of the link.
Definition at line 202 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), get_m(), operator=(), set_m(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity().
Motor Inertia.
Definition at line 202 of file robot.h. Referenced by get_Im(), operator=(), set_Im(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity().
Gear Ratio.
Definition at line 202 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), get_Gr(), operator=(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity().
Viscous coefficient.
Definition at line 202 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), get_B(), operator=(), set_B(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), and ROBOOP::Robot::torque().
Coulomb fiction coefficient.
Definition at line 202 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), get_Cf(), operator=(), set_Cf(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), and ROBOOP::Robot::torque().
Inertia matrix w.r.t. center of mass and link coordinate system orientation.
Definition at line 208 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), get_I(), Link(), operator=(), set_I(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity().
true if the joint is to be considered locked - ignored for inverse kinematics, but can still be reassigned through transform
Definition at line 209 of file robot.h. Referenced by get_immobile(), operator=(), and set_immobile().
The documentation for this class was generated from the following files: |
ROBOOP v1.21a |
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