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 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 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 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.

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.

Matrix Link::R

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

Definition at line 185 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.

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

• robot.h
• robot.cpp