Denavit Hartenberg Link information. More...

#include <frame.h>

Public Member Functions
	CDh ()

double	getAngle ()
	Returns current angle. More...

void	set (double rot_z, double trans_z, double rot_x, double trans_x)

void	setAngle (double angle)
	Sets current angle. More...

Public Attributes
double	angle
	Current angle of rotation aroung z-axis (changes with the real servo position) More...

CVec	axis

int	id
	Index of servo motor associated with the frame. More...

std::string	ivModel

double	max

double	min

double	rot_x
	Rotation offset around rotated x-axis. More...

double	rot_z
	Rotation offset around z-axis. More...

bool	rotationalDof

double	sgn
	Direction of rotation (+1.0 clockwise, -1.0 counterclockwise) More...

double	speedFactor

double	trans_x
	Translation offset along rotated x-axis. More...

double	trans_z
	Translation offset along z-axis. More...

bool	useAxis

Detailed Description

Denavit Hartenberg Link information.

Definition at line 241 of file frame.h.

Constructor & Destructor Documentation

◆ CDh()

robotLibPbD::CDh::CDh ( )

Definition at line 1150 of file frame.cpp.

Member Function Documentation

◆ getAngle()

double robotLibPbD::CDh::getAngle ( )

Returns current angle.

Definition at line 1164 of file frame.cpp.

◆ set()

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

Definition at line 1176 of file frame.cpp.

◆ setAngle()

void robotLibPbD::CDh::setAngle ( double angle )

Sets current angle.

Definition at line 1170 of file frame.cpp.

Member Data Documentation

◆ angle

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.

◆ axis

CVec robotLibPbD::CDh::axis

Definition at line 248 of file frame.h.

◆ id

int robotLibPbD::CDh::id

Index of servo motor associated with the frame.

Definition at line 255 of file frame.h.

◆ ivModel

std::string robotLibPbD::CDh::ivModel

Definition at line 244 of file frame.h.

◆ max

double robotLibPbD::CDh::max

Definition at line 257 of file frame.h.

◆ min

double robotLibPbD::CDh::min

Definition at line 257 of file frame.h.

◆ rot_x

double robotLibPbD::CDh::rot_x

Rotation offset around rotated x-axis.

Definition at line 251 of file frame.h.

◆ rot_z

double robotLibPbD::CDh::rot_z

Rotation offset around z-axis.

Definition at line 249 of file frame.h.

◆ rotationalDof

bool robotLibPbD::CDh::rotationalDof

Definition at line 246 of file frame.h.

◆ sgn

double robotLibPbD::CDh::sgn

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

Definition at line 254 of file frame.h.

◆ speedFactor

double robotLibPbD::CDh::speedFactor

Definition at line 245 of file frame.h.

◆ trans_x

double robotLibPbD::CDh::trans_x

Translation offset along rotated x-axis.

Definition at line 252 of file frame.h.

◆ trans_z

double robotLibPbD::CDh::trans_z

Translation offset along z-axis.

Definition at line 250 of file frame.h.

◆ useAxis

bool robotLibPbD::CDh::useAxis

Definition at line 247 of file frame.h.

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

Public Member Functions

Public Attributes