robLink Class Reference

A robot link. More...

#include <robLink.h>

Public Types
enum	Errno { ESUCCESS , EFAILURE }

Public Member Functions
	robLink ()
	Default constructor.
	robLink (const robLink &link)
	Copy constructor.
robLink &	operator= (const robLink &link)
	Copy assignment operator.
	robLink (robKinematics *kinematics, const robMass &mass)
	Overloaded constructor.
	~robLink ()
	Default destructor.
robLink::Errno	Read (std::istream &is)
	Read the DH and body parameters.
robLink::Errno	Write (std::ostream &os) const
	Write the DH and body parameters.
vctFrame4x4< double >	ForwardKinematics (double q) const
vctFixedSizeVector< double, 3 >	PStar () const
vctMatrixRotation3< double >	Orientation (double q) const
robKinematics *	GetKinematics () const
const robMass &	MassData (void) const
robMass &	MassData (void)
robKinematics::Convention	GetConvention () const
cmnJointType	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

Errno

enum robLink::Errno

Enumerator
ESUCCESS
EFAILURE

Constructor & Destructor Documentation

robLink() [1/3]

robLink::robLink

(

)

Default constructor.

robLink() [2/3]

robLink::robLink

(

const robLink &

link

)

Copy constructor.

robLink() [3/3]

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

Overloaded constructor.

~robLink()

robLink::~robLink

(

)

Default destructor.

Member Function Documentation

CenterOfMass()

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

inline

ForceTorqueMax()

double robLink::ForceTorqueMax ( ) const

inline

ForwardKinematics()

vctFrame4x4< double > robLink::ForwardKinematics

(

double

q

)

const

GetConvention()

robKinematics::Convention robLink::GetConvention

(

)

const

GetKinematics()

robKinematics * robLink::GetKinematics

(

)

const

GetType()

cmnJointType robLink::GetType

(

)

const

Mass()

double robLink::Mass ( ) const

inline

MassData() [1/2]

robMass & robLink::MassData

(

void

)

MassData() [2/2]

const robMass & robLink::MassData

(

void

)

const

MomentOfInertia()

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

inline

MomentOfInertiaAtCOM()

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

inline

operator=()

robLink & robLink::operator=

(

const robLink &

link

)

Copy assignment operator.

Orientation()

vctMatrixRotation3< double > robLink::Orientation

(

double

q

)

const

PositionMax()

double robLink::PositionMax ( ) const

inline

PositionMin()

double robLink::PositionMin ( ) const

inline

PStar()

vctFixedSizeVector< double, 3 > robLink::PStar

(

)

const

Read()

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):

Write()

robLink::Errno robLink::Write

(

std::ostream &

os

)

const

Write the DH and body parameters.

Member Data Documentation

kinematics

robKinematics* robLink::kinematics

protected

mass

robMass robLink::mass

protected

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The documentation for this class was generated from the following file:

• tmp/cisst-saw/cisst/cisstRobot/robLink.h