Hayati parameters of a coordinate frame. More...

#include <robModifiedHayati.h>

Inheritance diagram for robModifiedHayati:

Public Member Functions
	robModifiedHayati (void)
	Default constructor. More...

	robModifiedHayati (double beta, double alpha, double a, double d, double theta, const robJoint &joint)
	Overloaded constructor. More...

	~robModifiedHayati ()
	Default destructor. More...

vctFrame4x4< double >	ForwardKinematics (double q) const
	Get the position and orientation of the coordinate frame. More...

vctMatrixRotation3< double >	Orientation (double q) const
	Get the orientation of the link. More...

vctFixedSizeVector< double, 3 >	PStar (void) const
	Return the position of the next (distal) link coordinate frame. More...

robKinematics *	Clone (void) const
	Clone. More...

double	GetRotationX (void) const

double	GetRotationY (void) const

double	GetRotationZ (void) const

double	GetTranslationX (void) const

double	GetTranslationZ (void) const

void	SetRotationX (double x)

void	SetRotationY (double x)

void	SetRotationZ (double x)

void	SetTranslationX (double x)

void	SetTranslationZ (double x)

void	PrintParams (void) const

Public Member Functions inherited from robKinematics
	robKinematics (robKinematics::Convention convention)
	Default constructor. More...

	robKinematics (const robJoint &joint, robKinematics::Convention convention)
	Overloaded constructor. More...

virtual	~robKinematics ()

robKinematics::Convention	GetConvention () const
	Return the kinematics convention. More...

robKinematics::Errno	Read (std::istream &is)
	Read the kinematics parameters and joints parameters. More...

robKinematics::Errno	Write (std::ostream &os) const
	Write the kinematics parameters and joints parameters. More...

Public Member Functions inherited from robJoint
	robJoint ()
	Default constructor. More...

	robJoint (robJoint::Type type, robJoint::Mode mode, double offset, double min, double max, double ftmax)

robJoint::Type	GetType () const
	Return the type of the joint. More...

robJoint::Mode	GetMode () const
	Return the mode of the joint. More...

double	GetPosition () const
	Return the joint position. More...

double	GetVelocity () const
	Return the joint velocity. More...

double	GetForceTorque () const
	Return the joint force or torque. More...

void	SetPosition (double q)
	Set the joint position. More...

void	SetVelocity (double qd)
	Set the joint velocity. More...

void	SetForceTorque (double ft)
	Set the force/torque. More...

double	PositionOffset () const
	Return the offset position. More...

double	PositionMin () const
	Return the minimum position. More...

double	PositionMax () const
	Return the maximum position. More...

double	ForceTorqueMax () const
	Return the maximum force/torque. More...

Protected Member Functions
void	ReadParameters (std::istream &is)
	Read the parameters from an input stream. More...

void	WriteParameters (std::ostream &os) const
	Write the parameters to an output stream. More...

Additional Inherited Members
Public Types inherited from robKinematics
enum	Convention { UNDEFINED, STANDARD_DH, MODIFIED_DH, HAYATI, MODIFIED_HAYATI }
	Kinematics convention. More...

Public Types inherited from robJoint
enum	Type { UNDEFINED, HINGE, SLIDER, UNIVERSAL, BALLSOCKET }

enum	Mode { ACTIVE, PASSIVE }
	Joint modes. More...

enum	Errno { ESUCCESS, EFAILURE }

Static Public Member Functions inherited from robKinematics
static robKinematics *	Instantiate (const std::string &type)
	Instantiate a kinematic convention by name. More...

Detailed Description

Hayati parameters of a coordinate frame.

This class implements the Hayati kinematic model which is suitable for modelling both nearly parallel and nearly orthogonal axes. Compared to robHayati, the convention of this model follows [siciliano2008springer] (Handbook of Robotics, Springer, 2008)

Constructor & Destructor Documentation

robModifiedHayati::robModifiedHayati ( void )

Default constructor.

robModifiedHayati::robModifiedHayati	(	double	beta,
		double	alpha,
		double	a,
		double	d,
		double	theta,
		const robJoint &	joint
	)

Overloaded constructor.

Parameters

beta
alpha
a
d
theta
joint

robModifiedHayati::~robModifiedHayati ( )

Default destructor.

Member Function Documentation

robKinematics* robModifiedHayati::Clone ( void ) const

virtual

Clone.

Implements robKinematics.

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

virtual

Get the position and orientation of the coordinate frame.

Returns the position and orientation of the coordinate frame.

Parameters

joint The joint value

Returns: The position and orientation of the coordinate frame

Implements robKinematics.

double robModifiedHayati::GetRotationX ( void ) const

inline

double robModifiedHayati::GetRotationY ( void ) const

inline

double robModifiedHayati::GetRotationZ ( void ) const

inline

double robModifiedHayati::GetTranslationX ( void ) const

inline

double robModifiedHayati::GetTranslationZ ( void ) const

inline

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

virtual

Get the orientation of the link.

Returns the orientation of the link with respect to the proximal link for a given joint vale.

Parameters

joint The joint associated with the link

Returns: The orientation associated with the Hayati parameters

Implements robKinematics.

void robModifiedHayati::PrintParams ( void ) const

vctFixedSizeVector<double,3> robModifiedHayati::PStar ( void ) const

virtual

Return the position of the next (distal) link coordinate frame.

This method returns the $XYZ$ coordinates of the origin of the distal link in the coordinate frame of the proximal link. "PStar" is not a good name for this but the literature uses $ {p}^* $ to denote this value.