Functions | Variables
ArmWidget.cpp File Reference
#include "ArmWidget.h"
#include <math.h>
#include <QtGui>
#include "corobot.h"
Include dependency graph for ArmWidget.cpp:

Go to the source code of this file.

Functions

bool doArmIK (const double x, const double y, double &theta1, double &theta2)
 computes the inverse kinematics for the arm
double inchesToMeters (const double inches)
double MetersToPixels (const double meters)
double PixeltoMeter (const double pixel)

Variables

const double AL5A_ARM_ELBOW_SEGMENT_METERS = inchesToMeters(7.62)
const double AL5A_ARM_SHOULDER_SEGMENT_METERS = inchesToMeters(3.75)
const int ARM_BODY_TOP = ARM_X * 7 / 10
const int ARM_CENTER_X = ARM_X / 2
const int ARM_SHOULDER_X = ARM_CENTER_X - ARM_X / 7
const int ARM_X = 120
const int ARM_Y = 120
double armElbowSegmentMeters = COROBOT_ARM_ELBOW_SEGMENT_METERS
double armShoulderSegmentMeters = COROBOT_ARM_SHOULDER_SEGMENT_METERS
const double COROBOT_ARM_ELBOW_SEGMENT_METERS = inchesToMeters(8)
const double COROBOT_ARM_SHOULDER_SEGMENT_METERS = inchesToMeters(6.25)
const double PINCHER_ARM_ELBOW_SEGMENT_METERS = inchesToMeters(8)
const double PINCHER_ARM_SHOULDER_SEGMENT_METERS = inchesToMeters(6.25)
const double REACTOR_ARM_ELBOW_SEGMENT_METERS = inchesToMeters(8)
const double REACTOR_ARM_SHOULDER_SEGMENT_METERS = inchesToMeters(6.25)

Function Documentation

bool doArmIK ( const double  x,
const double  y,
double &  theta1,
double &  theta2 
)

computes the inverse kinematics for the arm

Parameters:
xthe desired distance of the end effector in front of the robot (meters)
ythe desired distance of the end effector above the ground plane (meters)
theta1[out] the joint angle of the shoulder to reach the desired pose
theta2[out] the joint angle of the elbow to reach the desired pose

Definition at line 138 of file ArmWidget.cpp.

double inchesToMeters ( const double  inches)

Definition at line 37 of file ArmWidget.cpp.

double MetersToPixels ( const double  meters)

Definition at line 49 of file ArmWidget.cpp.

double PixeltoMeter ( const double  pixel)

Definition at line 43 of file ArmWidget.cpp.


Variable Documentation

Definition at line 70 of file ArmWidget.cpp.

Definition at line 69 of file ArmWidget.cpp.

const int ARM_BODY_TOP = ARM_X * 7 / 10

Definition at line 80 of file ArmWidget.cpp.

const int ARM_CENTER_X = ARM_X / 2

Definition at line 79 of file ArmWidget.cpp.

const int ARM_SHOULDER_X = ARM_CENTER_X - ARM_X / 7

Definition at line 81 of file ArmWidget.cpp.

const int ARM_X = 120

Definition at line 77 of file ArmWidget.cpp.

const int ARM_Y = 120

Definition at line 78 of file ArmWidget.cpp.

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Definition at line 73 of file ArmWidget.cpp.

Definition at line 58 of file ArmWidget.cpp.

Definition at line 57 of file ArmWidget.cpp.

Definition at line 62 of file ArmWidget.cpp.

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Definition at line 65 of file ArmWidget.cpp.



corobot_teleop
Author(s):
autogenerated on Wed Aug 26 2015 11:09:59