Public Member Functions | Public Attributes | Private Attributes | Friends
Link Class Reference

Link definitions. More...

#include <robot.h>

List of all members.

Public Member Functions

Real get_a (void) const
 Return a.
Real get_alpha (void) const
 Return alpha.
Real get_B (void) const
 Return B.
Real get_Cf (void) const
 Return Cf.
Real get_d (void) const
 Return d.
bool get_DH (void) const
 Return DH value.
Real get_Gr (void) const
 Return Gr.
ReturnMatrix get_I (void) const
 Return I.
Real get_Im (void) const
 Return Im.
bool get_immobile (void) const
 Return immobile.
Real get_joint_offset (void) const
 Return joint_offset.
int get_joint_type (void) const
 Return the joint type.
Real get_m (void) const
 Return m.
ReturnMatrix get_mc (void)
 Return mc.
ReturnMatrix get_p (void) const
 Return p.
Real get_q (void) const
 Return joint position (theta if joint type is rotoide, d otherwise).
ReturnMatrix get_r (void)
 Return r.
Real get_theta (void) const
 Return theta.
Real get_theta_max (void) const
 Return theta_max.
Real get_theta_min (void) const
 Return theta_min.
 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.
void set_B (const Real B_)
 Set B.
void set_Cf (const Real Cf_)
 Set Cf.
void set_I (const Matrix &I)
 Set I.
void set_Im (const Real Im_)
 Set Im.
void set_immobile (bool im)
 Set immobile.
void set_m (const Real m_)
 Set m.
void set_mc (const ColumnVector &mc_)
 Set mc.
void set_r (const ColumnVector &r_)
 Set r.
void transform (const Real q)
 Set the rotation matrix R and the vector p.
 ~Link ()
 Destructor.

Public Attributes

Real qp
 Joint velocity.
Real qpp
 Joint acceleration.
Matrix R
 Orientation matrix of actual link w.r.t to previous link.

Private Attributes

Real a
 a DH parameter.
Real alpha
 alpha DH parameter.
Real B
 Viscous coefficient.
Real Cf
 Coulomb fiction coefficient.
Real d
 d DH parameter.
bool DH
 DH notation(true) or DH modified notation.
Real Gr
 Gear Ratio.
Matrix I
 Inertia matrix w.r.t. center of mass and link coordinate system orientation.
Real Im
 Motor Inertia.
bool immobile
 true if the joint is to be considered locked - ignored for inverse kinematics, but can still be reassigned through transform
Real joint_offset
 Offset in joint angle (rotoide and prismatic).
int joint_type
 Joint type.
Real m
 Mass of the link.
ColumnVector mc
 Mass $\times$ center of gravity (used if min_para = true).
bool min_para
 Minimum inertial parameter.
ColumnVector p
 Position vector of actual link w.r.t to previous link.
ColumnVector r
 Position of center of mass w.r.t. link coordinate system (min_para=F).
Real theta
 theta DH parameter.
Real theta_max
 Max joint angle.
Real theta_min
 Min joint angle.

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.

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.

Joint velocity.

Definition at line 186 of file robot.h.

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:


kni
Author(s): Martin Günther
autogenerated on Thu Jun 6 2019 21:42:35