robotLibPbD::CDh Class Reference

Denavit Hartenberg Link information. More...

#include <frame.h>

List of all members.

Public Member Functions
	CDh ()
double	getAngle ()
	Returns current angle.
void	set (double rot_z, double trans_z, double rot_x, double trans_x)
void	setAngle (double angle)
	Sets current angle.
Public Attributes
double	angle
	Current angle of rotation aroung z-axis (changes with the real servo position)
CVec	axis
int	id
	Index of servo motor associated with the frame.
std::string	ivModel
double	max
double	min
double	rot_x
	Rotation offset around rotated x-axis.
double	rot_z
	Rotation offset around z-axis.
bool	rotationalDof
double	sgn
	Direction of rotation (+1.0 clockwise, -1.0 counterclockwise)
double	speedFactor
double	trans_x
	Translation offset along rotated x-axis.
double	trans_z
	Translation offset along z-axis.
bool	useAxis

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Detailed Description

Denavit Hartenberg Link information.

Definition at line 241 of file frame.h.

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Constructor & Destructor Documentation

robotLibPbD::CDh::CDh

(

)

Definition at line 1150 of file frame.cpp.

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Member Function Documentation

double robotLibPbD::CDh::getAngle

(

)

Returns current angle.

Definition at line 1164 of file frame.cpp.

void robotLibPbD::CDh::set	(	double	rot_z,
		double	trans_z,
		double	rot_x,
		double	trans_x
	)

Definition at line 1176 of file frame.cpp.

void robotLibPbD::CDh::setAngle

(

double

angle

)

Sets current angle.

Definition at line 1170 of file frame.cpp.

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Member Data Documentation

double robotLibPbD::CDh::angle

Current angle of rotation aroung z-axis (changes with the real servo position)

Definition at line 253 of file frame.h.

CVec robotLibPbD::CDh::axis

Definition at line 248 of file frame.h.

int robotLibPbD::CDh::id

Index of servo motor associated with the frame.

Definition at line 255 of file frame.h.

std::string robotLibPbD::CDh::ivModel

Definition at line 244 of file frame.h.

double robotLibPbD::CDh::max

Definition at line 257 of file frame.h.

double robotLibPbD::CDh::min

Definition at line 257 of file frame.h.

double robotLibPbD::CDh::rot_x

Rotation offset around rotated x-axis.

Definition at line 251 of file frame.h.

double robotLibPbD::CDh::rot_z

Rotation offset around z-axis.

Definition at line 249 of file frame.h.

bool robotLibPbD::CDh::rotationalDof

Definition at line 246 of file frame.h.

double robotLibPbD::CDh::sgn

Direction of rotation (+1.0 clockwise, -1.0 counterclockwise)

Definition at line 254 of file frame.h.

double robotLibPbD::CDh::speedFactor

Definition at line 245 of file frame.h.

double robotLibPbD::CDh::trans_x

Translation offset along rotated x-axis.

Definition at line 252 of file frame.h.

double robotLibPbD::CDh::trans_z

Translation offset along z-axis.

Definition at line 250 of file frame.h.

bool robotLibPbD::CDh::useAxis

Definition at line 247 of file frame.h.

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

• frame.h
• frame.cpp