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)

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Function Documentation

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

computes the inverse kinematics for the arm

Parameters:

x	the desired distance of the end effector in front of the robot (meters)
y	the 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.

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Variable Documentation

const double AL5A_ARM_ELBOW_SEGMENT_METERS = inchesToMeters(7.62)

Definition at line 70 of file ArmWidget.cpp.

const double AL5A_ARM_SHOULDER_SEGMENT_METERS = inchesToMeters(3.75)

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.

double armElbowSegmentMeters = COROBOT_ARM_ELBOW_SEGMENT_METERS

Definition at line 74 of file ArmWidget.cpp.

double armShoulderSegmentMeters = COROBOT_ARM_SHOULDER_SEGMENT_METERS

Definition at line 73 of file ArmWidget.cpp.

const double COROBOT_ARM_ELBOW_SEGMENT_METERS = inchesToMeters(8)

Definition at line 58 of file ArmWidget.cpp.

const double COROBOT_ARM_SHOULDER_SEGMENT_METERS = inchesToMeters(6.25)

Definition at line 57 of file ArmWidget.cpp.

const double PINCHER_ARM_ELBOW_SEGMENT_METERS = inchesToMeters(8)

Definition at line 62 of file ArmWidget.cpp.

const double PINCHER_ARM_SHOULDER_SEGMENT_METERS = inchesToMeters(6.25)

Definition at line 61 of file ArmWidget.cpp.

const double REACTOR_ARM_ELBOW_SEGMENT_METERS = inchesToMeters(8)

Definition at line 66 of file ArmWidget.cpp.

const double REACTOR_ARM_SHOULDER_SEGMENT_METERS = inchesToMeters(6.25)

Definition at line 65 of file ArmWidget.cpp.