robModifiedDH Class Reference

Modified DH (Craig's) parameters of a link. More...

#include <robModifiedDH.h>

Inheritance diagram for robModifiedDH:

Public Member Functions
	robModifiedDH ()
	Default constructor.
	robModifiedDH (double alpha, double a, double theta, double d, const robJoint &joint)
	Overloaded constructor.
	~robModifiedDH ()
	Default destructor.
vctFrame4x4< double >	ForwardKinematics (double q) const
	Get the position and orientation of the coordinate frame.
vctMatrixRotation3< double >	Orientation (double q) const
	Get the orientation of the link.
vctFixedSizeVector< double, 3 >	PStar () const
	Return the position of the next (distal) link coordinate frame.
robKinematics *	Clone () const
	Clone.
double	GetRotationX () const
double	GetRotationZ () const
double	GetTranslationX () const
double	GetTranslationZ () const
void	SetRotationX (double x)
void	SetRotationZ (double x)
void	SetTranslationX (double x)
void	SetTranslationZ (double x)
Public Member Functions inherited from robKinematics
	robKinematics (robKinematics::Convention convention)
	Default constructor.
	robKinematics (const robJoint &joint, robKinematics::Convention convention)
	Overloaded constructor.
virtual	~robKinematics ()
robKinematics::Convention	GetConvention () const
	Return the kinematics convention.
robKinematics::Errno	Read (std::istream &is)
	Read the kinematics parameters and joints parameters.
robKinematics::Errno	Write (std::ostream &os) const
	Write the kinematics parameters and joints parameters.
Public Member Functions inherited from robJoint
	robJoint ()
	Default constructor.
	robJoint (cmnJointType type, robJoint::Mode mode, double offset, double min, double max, double ftmax)
virtual	~robJoint ()
const std::string &	Name (void) const
std::string &	Name (void)
cmnJointType	GetType () const
	Return the type of the joint.
robJoint::Mode	GetMode () const
	Return the mode of the joint.
double	GetPosition () const
	Return the joint position.
double	GetVelocity () const
	Return the joint velocity.
double	GetForceTorque () const
	Return the joint force or torque.
void	SetPosition (double q)
	Set the joint position.
void	SetVelocity (double qd)
	Set the joint velocity.
void	SetForceTorque (double ft)
	Set the force/torque.
double	PositionOffset () const
	Return the offset position.
void	SetPositionOffset (const double offset)
const double &	PositionMin (void) const
	Return the minimum position.
double &	PositionMin (void)
const double &	PositionMax (void) const
	Return the maximum position.
double &	PositionMax (void)
const double &	ForceTorqueMax (void) const
	Return the maximum force/torque.
double &	ForceTorqueMax (void)

Protected Member Functions
void	ReadParameters (std::istream &is)
	Read the parameters from an input stream.
void	WriteParameters (std::ostream &os) const
	Write the parameters to an output stream.

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	Mode { ACTIVE , PASSIVE }
	Joint modes. More...
enum	Errno { ESUCCESS , EFAILURE }
typedef cmnJointType	Type
Static Public Member Functions inherited from robKinematics
static robKinematics *	Instantiate (const std::string &type)
	Instantiate a kinematic convention by name.
Static Public Attributes inherited from robJoint
static const cmnJointType	UNDEFINED = CMN_JOINT_UNDEFINED
static const cmnJointType	HINGE = CMN_JOINT_REVOLUTE
static const cmnJointType	SLIDER = CMN_JOINT_PRISMATIC
static const cmnJointType	UNIVERSAL = CMN_JOINT_UNIVERSAL
static const cmnJointType	BALLSOCKET = CMN_JOINT_BALL_SOCKET

Detailed Description

Modified DH (Craig's) parameters of a link.

The modified DH class is used for kinematics parameters.

Constructor & Destructor Documentation

robModifiedDH() [1/2]

robModifiedDH::robModifiedDH

(

)

Default constructor.

robModifiedDH() [2/2]

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

Overloaded constructor.

Parameters

alpha
a
theta
d
joint

~robModifiedDH()

robModifiedDH::~robModifiedDH

(

)

Default destructor.

Member Function Documentation

Clone()

robKinematics * robModifiedDH::Clone ( ) const

virtual

Clone.

Implements robKinematics.

ForwardKinematics()

vctFrame4x4< double > robModifiedDH::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.

GetRotationX()

double robModifiedDH::GetRotationX ( ) const

inline

GetRotationZ()

double robModifiedDH::GetRotationZ ( ) const

inline

GetTranslationX()

double robModifiedDH::GetTranslationX ( ) const

inline

GetTranslationZ()

double robModifiedDH::GetTranslationZ ( ) const

inline

Orientation()

vctMatrixRotation3< double > robModifiedDH::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 DH parameters

Implements robKinematics.

PStar()

vctFixedSizeVector< double, 3 > robModifiedDH::PStar ( ) 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 $ \mathbf{p}^* $ to denote this value.

Returns

The position of the next coordinate frame wrt to the current frame

Implements robKinematics.

ReadParameters()

void robModifiedDH::ReadParameters ( std::istream & is )

protectedvirtual

Read the parameters from an input stream.

Read the parameters from an input stream. The parameters are in the following order: convention, \(\alpha\), a, \(\theta\), d, <joint>

Parameters

is	The input stream

Implements robKinematics.

SetRotationX()

void robModifiedDH::SetRotationX ( double x )

inline

SetRotationZ()

void robModifiedDH::SetRotationZ ( double x )

inline

SetTranslationX()

void robModifiedDH::SetTranslationX ( double x )

inline

SetTranslationZ()

void robModifiedDH::SetTranslationZ ( double x )

inline

WriteParameters()

void robModifiedDH::WriteParameters ( std::ostream & os ) const

protectedvirtual

Write the parameters to an output stream.

Write the parameters to an output stream. The parameters are in the following order: \(\alpha\), a, \(\theta\), d

Parameters

os	The output stream

Implements robKinematics.

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

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