A robot link. More...

#include <robLink.h>

Public Types
enum	Errno { ESUCCESS, EFAILURE }

Public Member Functions
	robLink ()
	Default constructor. More...

	robLink (const robLink &link)
	Copy constructor. More...

	robLink (robKinematics *kinematics, const robMass &mass)
	Overloaded constructor. More...

	~robLink ()
	Default destructor. More...

robLink::Errno	Read (std::istream &is)
	Read the DH and body parameters. More...

robLink::Errno	Write (std::ostream &os) const
	Write the DH and body parameters. More...

vctFrame4x4< double >	ForwardKinematics (double q) const

vctFixedSizeVector< double, 3 >	PStar () const

vctMatrixRotation3< double >	Orientation (double q) const

robKinematics *	GetKinematics () const

robMass	GetMass () const

robKinematics::Convention	GetConvention () const

robJoint::Type	GetType () const

double	Mass () const

vctFixedSizeVector< double, 3 >	CenterOfMass () const

vctFixedSizeMatrix< double, 3, 3 >	MomentOfInertiaAtCOM () const

vctFixedSizeMatrix< double, 3, 3 >	MomentOfInertia () const

double	PositionMin () const

double	PositionMax () const

double	ForceTorqueMax () const

Protected Attributes
robKinematics *	kinematics

robMass	mass

Detailed Description

A robot link.

robLink implements the methods necessary to model a robot link. The class is derived from robBody to store the dynamics parameters of the body and the link's position and orientation. The link is also derived from robDH to determine the link's position and orientation from joint values

Member Enumeration Documentation

enum robLink::Errno

Enumerator
ESUCCESS
EFAILURE

Constructor & Destructor Documentation

robLink::robLink ( )

Default constructor.

robLink::robLink ( const robLink & link )

Copy constructor.

robLink::robLink	(	robKinematics *	kinematics,
		const robMass &	mass
	)

Overloaded constructor.

robLink::~robLink ( )

Default destructor.

Member Function Documentation

vctFixedSizeVector<double,3> robLink::CenterOfMass ( ) const

inline

double robLink::ForceTorqueMax ( ) const

inline

vctFrame4x4<double> robLink::ForwardKinematics ( double q ) const

robKinematics::Convention robLink::GetConvention ( ) const

robKinematics* robLink::GetKinematics ( ) const

robMass robLink::GetMass ( ) const

robJoint::Type robLink::GetType ( ) const

double robLink::Mass ( ) const

inline

vctFixedSizeMatrix<double,3,3> robLink::MomentOfInertia ( ) const

inline

vctFixedSizeMatrix<double,3,3> robLink::MomentOfInertiaAtCOM ( ) const

inline

vctMatrixRotation3<double> robLink::Orientation ( double q ) const

double robLink::PositionMax ( ) const

inline

double robLink::PositionMin ( ) const

inline

vctFixedSizeVector<double,3> robLink::PStar ( ) const

robLink::Errno robLink::Read ( std::istream & is )

Read the DH and body parameters.

First read the DH parameters and then the body's parameters. At the end of the day, the parameters must be in the following order DH convention (string): modified or standard $\alpha$ (1 double): DH parameter $ a $ (1 double): DH parameter $\theta$ (1 double): DH parameter $ d $ (1 double): DH parameter joint type (string): revolute/hinge or prismatic/slider joint mode (string): active or passive joint offset position (1 double): value added to each joint value joint minimum position (1 double): lower joint limit joint maximum position (1 double): upper joint limit joint maximum force/torque (1 double): absolute force/torque limit mass (1 double): The mass of the body center of mass (3 double): $\matrix{x & y & z}$ principal moment of inertia (3 double): $\matrix{I_{xx} & I_{yy} & I_{zz}}$ body principal axis (9 double):