Public Member Functions | Public Attributes
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

Detailed Description

Denavit Hartenberg Link information.

Definition at line 241 of file frame.h.


Constructor & Destructor Documentation

Definition at line 1150 of file frame.cpp.


Member Function Documentation

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.


Member Data Documentation

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

Definition at line 253 of file frame.h.

Definition at line 248 of file frame.h.

Index of servo motor associated with the frame.

Definition at line 255 of file frame.h.

Definition at line 244 of file frame.h.

Definition at line 257 of file frame.h.

Definition at line 257 of file frame.h.

Rotation offset around rotated x-axis.

Definition at line 251 of file frame.h.

Rotation offset around z-axis.

Definition at line 249 of file frame.h.

Definition at line 246 of file frame.h.

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

Definition at line 254 of file frame.h.

Definition at line 245 of file frame.h.

Translation offset along rotated x-axis.

Definition at line 252 of file frame.h.

Translation offset along z-axis.

Definition at line 250 of file frame.h.

Definition at line 247 of file frame.h.


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


asr_kinematic_chain_optimizer
Author(s): Aumann Florian, Heller Florian, Jäkel Rainer, Wittenbeck Valerij
autogenerated on Sat Jun 8 2019 19:42:49