Link definitions. More...

#include <robot.h>

Public Member Functions
Real	get_a (void) const
	Return a. More...

Real	get_alpha (void) const
	Return alpha. More...

Real	get_B (void) const
	Return B. More...

Real	get_Cf (void) const
	Return Cf. More...

Real	get_d (void) const
	Return d. More...

bool	get_DH (void) const
	Return DH value. More...

Real	get_Gr (void) const
	Return Gr. More...

ReturnMatrix	get_I (void) const
	Return I. More...

Real	get_Im (void) const
	Return Im. More...

bool	get_immobile (void) const
	Return immobile. More...

Real	get_joint_offset (void) const
	Return joint_offset. More...

int	get_joint_type (void) const
	Return the joint type. More...

Real	get_m (void) const
	Return m. More...

ReturnMatrix	get_mc (void)
	Return mc. More...

ReturnMatrix	get_p (void) const
	Return p. More...

Real	get_q (void) const
	Return joint position (theta if joint type is rotoide, d otherwise). More...

ReturnMatrix	get_r (void)
	Return r. More...

Real	get_theta (void) const
	Return theta. More...

Real	get_theta_max (void) const
	Return theta_max. More...

Real	get_theta_min (void) const
	Return theta_min. More...

	Link (const int jt=0, const Real it=0.0, const Real id=0.0, const Real ia=0.0, const Real ial=0.0, const Real theta_min=-M_PI/2, const Real theta_max=M_PI/2, const Real it_off=0.0, const Real mass=1.0, const Real cmx=0.0, const Real cmy=0.0, const Real cmz=0.0, const Real ixx=0.0, const Real ixy=0.0, const Real ixz=0.0, const Real iyy=0.0, const Real iyz=0.0, const Real izz=0.0, const Real iIm=0.0, const Real iGr=0.0, const Real iB=0.0, const Real iCf=0.0, const bool dh=true, const bool min_inertial_para=false, const bool immobile=false)
	Constructor. More...

void	set_B (const Real B_)
	Set B. More...

void	set_Cf (const Real Cf_)
	Set Cf. More...

void	set_I (const Matrix &I)
	Set I. More...

void	set_Im (const Real Im_)
	Set Im. More...

void	set_immobile (bool im)
	Set immobile. More...

void	set_m (const Real m_)
	Set m. More...

void	set_mc (const ColumnVector &mc_)
	Set mc. More...

void	set_r (const ColumnVector &r_)
	Set r. More...

void	transform (const Real q)
	Set the rotation matrix R and the vector p. More...

	~Link ()
	Destructor. More...

Public Attributes
Real	qp
	Joint velocity. More...

Real	qpp
	Joint acceleration. More...

Matrix	R
	Orientation matrix of actual link w.r.t to previous link. More...

Private Attributes
Real	a
	a DH parameter. More...

Real	alpha
	alpha DH parameter. More...

Real	B
	Viscous coefficient. More...

Real	Cf
	Coulomb fiction coefficient. More...

Real	d
	d DH parameter. More...

bool	DH
	DH notation(true) or DH modified notation. More...

Real	Gr
	Gear Ratio. More...

Matrix	I
	Inertia matrix w.r.t. center of mass and link coordinate system orientation. More...

Real	Im
	Motor Inertia. More...

bool	immobile
	true if the joint is to be considered locked - ignored for inverse kinematics, but can still be reassigned through transform More...

Real	joint_offset
	Offset in joint angle (rotoide and prismatic). More...

int	joint_type
	Joint type. More...

Real	m
	Mass of the link. More...

ColumnVector	mc
	Mass $\times$ center of gravity (used if min_para = true). More...

bool	min_para
	Minimum inertial parameter. More...

ColumnVector	p
	Position vector of actual link w.r.t to previous link. More...

ColumnVector	r
	Position of center of mass w.r.t. link coordinate system (min_para=F). More...

Real	theta
	theta DH parameter. More...

Real	theta_max
	Max joint angle. More...

Real	theta_min
	Min joint angle. More...

Friends
class	mRobot

class	mRobot_min_para

class	Robot

class	Robot_basic

Detailed Description

Link definitions.

A n degree of freedom (dof) serial manipulator is composed of n links. This class describe the property of a link. A n dof robot has n instance of the class Link.

Definition at line 137 of file robot.h.

Constructor & Destructor Documentation

Link::Link	(	const int	jt = `0`,
		const Real	it = `0.0`,
		const Real	id = `0.0`,
		const Real	ia = `0.0`,
		const Real	ial = `0.0`,
		const Real	theta_min = `-M_PI/2`,
		const Real	theta_max = `M_PI/2`,
		const Real	it_off = `0.0`,
		const Real	mass = `1.0`,
		const Real	cmx = `0.0`,
		const Real	cmy = `0.0`,
		const Real	cmz = `0.0`,
		const Real	ixx = `0.0`,
		const Real	ixy = `0.0`,
		const Real	ixz = `0.0`,
		const Real	iyy = `0.0`,
		const Real	iyz = `0.0`,
		const Real	izz = `0.0`,
		const Real	iIm = `0.0`,
		const Real	iGr = `0.0`,
		const Real	iB = `0.0`,
		const Real	iCf = `0.0`,
		const bool	dh = `true`,
		const bool	min_inertial_para = `false`,
		const bool	immobile = `false`
	)

Constructor.

Definition at line 150 of file robot.cpp.

Link::~Link ( )

inline

Destructor.

Definition at line 154 of file robot.h.

Member Function Documentation

Real Link::get_a ( void ) const

inline

Return a.

Definition at line 160 of file robot.h.

Real Link::get_alpha ( void ) const

inline

Return alpha.

Definition at line 161 of file robot.h.

Real Link::get_B ( void ) const

inline

Return B.

Definition at line 172 of file robot.h.

Real Link::get_Cf ( void ) const

inline

Return Cf.

Definition at line 173 of file robot.h.

Real Link::get_d ( void ) const

inline

Return d.

Definition at line 159 of file robot.h.

bool Link::get_DH ( void ) const

inline

Return DH value.

Definition at line 156 of file robot.h.

Real Link::get_Gr ( void ) const

inline

Return Gr.

Definition at line 171 of file robot.h.

ReturnMatrix Link::get_I ( void ) const

inline

Return I.

Definition at line 174 of file robot.h.

Real Link::get_Im ( void ) const

inline

Return Im.

Definition at line 170 of file robot.h.

bool Link::get_immobile ( void ) const

inline

Return immobile.

Definition at line 175 of file robot.h.

Real Link::get_joint_offset ( void ) const

inline

Return joint_offset.

Definition at line 165 of file robot.h.

int Link::get_joint_type ( void ) const

inline

Return the joint type.

Definition at line 157 of file robot.h.

Real Link::get_m ( void ) const

inline

Return m.

Definition at line 169 of file robot.h.

ReturnMatrix Link::get_mc ( void )

inline

Return mc.

Definition at line 166 of file robot.h.

ReturnMatrix Link::get_p ( void ) const

inline

Return p.

Definition at line 168 of file robot.h.

Real Link::get_q ( void ) const

Return joint position (theta if joint type is rotoide, d otherwise).

The joint offset is removed from the value.

Definition at line 299 of file robot.cpp.

ReturnMatrix Link::get_r ( void )

inline

Return r.

Definition at line 167 of file robot.h.

Real Link::get_theta ( void ) const

inline

Return theta.

Definition at line 158 of file robot.h.

Real Link::get_theta_max ( void ) const

inline

Return theta_max.

Definition at line 164 of file robot.h.

Real Link::get_theta_min ( void ) const

inline

Return theta_min.

Definition at line 163 of file robot.h.

void Link::set_B ( const Real B_ )

inline

Set B.

Definition at line 180 of file robot.h.

void Link::set_Cf ( const Real Cf_ )

inline

Set Cf.

Definition at line 181 of file robot.h.

void Link::set_I ( const Matrix & I )

Set I.

Set the inertia matrix.

Definition at line 335 of file robot.cpp.

void Link::set_Im ( const Real Im_ )

inline

Set Im.

Definition at line 179 of file robot.h.

void Link::set_immobile ( bool im )

inline

Set immobile.

Definition at line 183 of file robot.h.

void Link::set_m ( const Real m_ )

inline

Set m.

Definition at line 176 of file robot.h.

void Link::set_mc ( const ColumnVector & mc_ )

Set mc.

Set the mass $\times$ center of gravity position.

Definition at line 322 of file robot.cpp.

void Link::set_r ( const ColumnVector & r_ )

Set r.

Set the center of gravity position.

Definition at line 313 of file robot.cpp.

void Link::transform ( const Real q )

Set the rotation matrix R and the vector p.

Definition at line 244 of file robot.cpp.

Friends And Related Function Documentation

friend class mRobot

friend

Definition at line 141 of file robot.h.

friend class mRobot_min_para

friend

Definition at line 142 of file robot.h.

friend class Robot

friend

Definition at line 140 of file robot.h.

friend class Robot_basic

friend

Definition at line 139 of file robot.h.

Member Data Documentation

Real Link::a

private

a DH parameter.

Definition at line 191 of file robot.h.

Real Link::alpha

private

alpha DH parameter.

Definition at line 191 of file robot.h.

Real Link::B

private

Viscous coefficient.

Definition at line 202 of file robot.h.

Real Link::Cf

private

Coulomb fiction coefficient.

Definition at line 202 of file robot.h.

Real Link::d

private

d DH parameter.

Definition at line 191 of file robot.h.

bool Link::DH

private

DH notation(true) or DH modified notation.

Definition at line 198 of file robot.h.

Real Link::Gr

private

Gear Ratio.

Definition at line 202 of file robot.h.

Matrix Link::I

private

Inertia matrix w.r.t. center of mass and link coordinate system orientation.

Definition at line 208 of file robot.h.

Real Link::Im

private

Motor Inertia.

Definition at line 202 of file robot.h.

bool Link::immobile

private

true if the joint is to be considered locked - ignored for inverse kinematics, but can still be reassigned through transform

Definition at line 209 of file robot.h.

Real Link::joint_offset

private

Offset in joint angle (rotoide and prismatic).

Definition at line 191 of file robot.h.

int Link::joint_type

private

Joint type.

Definition at line 190 of file robot.h.

Real Link::m

private

Mass of the link.

Definition at line 202 of file robot.h.

ColumnVector Link::mc

private

Mass $\times$ center of gravity (used if min_para = true).

Definition at line 207 of file robot.h.

bool Link::min_para

private

Minimum inertial parameter.

Definition at line 198 of file robot.h.

ColumnVector Link::p

private

Position vector of actual link w.r.t to previous link.

Definition at line 200 of file robot.h.

Real Link::qp

Joint velocity.

Definition at line 186 of file robot.h.

Real Link::qpp

Joint acceleration.

Definition at line 186 of file robot.h.

Matrix Link::R

Orientation matrix of actual link w.r.t to previous link.

Definition at line 185 of file robot.h.

ColumnVector Link::r

private

Position of center of mass w.r.t. link coordinate system (min_para=F).

Definition at line 200 of file robot.h.

Real Link::theta

private

theta DH parameter.

Definition at line 191 of file robot.h.

Real Link::theta_max

private

Max joint angle.

Definition at line 191 of file robot.h.

Real Link::theta_min

private

Min joint angle.

Definition at line 191 of file robot.h.

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

Public Member Functions

Public Attributes

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation