Link Class Reference

#include <robot.h>

List of all members.

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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.

Public Member Functions
	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.
	~Link ()
	Destructor.
void	transform (const Real q)
	Set the rotation matrix R and the vector p.
bool	get_DH (void) const
	Return DH value.
int	get_joint_type (void) const
	Return the joint type.
Real	get_theta (void) const
	Return theta.
Real	get_d (void) const
	Return d.
Real	get_a (void) const
	Return a.
Real	get_alpha (void) const
	Return alpha.
Real	get_q (void) const
	Return joint position (theta if joint type is rotoide, d otherwise).
Real	get_theta_min (void) const
	Return theta_min.
Real	get_theta_max (void) const
	Return theta_max.
Real	get_joint_offset (void) const
	Return joint_offset.
ReturnMatrix	get_mc (void)
	Return mc.
ReturnMatrix	get_r (void)
	Return r.
ReturnMatrix	get_p (void) const
	Return p.
Real	get_m (void) const
	Return m.
Real	get_Im (void) const
	Return Im.
Real	get_Gr (void) const
	Return Gr.
Real	get_B (void) const
	Return B.
Real	get_Cf (void) const
	Return Cf.
ReturnMatrix	get_I (void) const
	Return I.
bool	get_immobile (void) const
	Return 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	set_Im (const Real Im_)
	Set Im.
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_immobile (bool im)
	Set immobile.
Public Attributes
Matrix	R
	Orientation matrix of actual link w.r.t to previous link.
Real	qp
	Joint velocity.
Real	qpp
	Joint acceleration.
Private Attributes
int	joint_type
	Joint type.
Real	theta
	theta DH parameter.
Real	d
	d DH parameter.
Real	a
	a DH parameter.
Real	alpha
	alpha DH parameter.
Real	theta_min
	Min joint angle.
Real	theta_max
	Max joint angle.
Real	joint_offset
	Offset in joint angle (rotoide and prismatic).
bool	DH
	DH notation(true) or DH modified notation.
bool	min_para
	Minimum inertial parameter.
ColumnVector	r
	Position of center of mass w.r.t. link coordinate system (min_para=F).
ColumnVector	p
	Position vector of actual link w.r.t to previous link.
Real	m
	Mass of the link.
Real	Im
	Motor Inertia.
Real	Gr
	Gear Ratio.
Real	B
	Viscous coefficient.
Real	Cf
	Coulomb fiction coefficient.
ColumnVector	mc
	Mass center of gravity (used if min_para = true).
Matrix	I
	Inertia matrix w.r.t. center of mass and link coordinate system orientation.
bool	immobile
	true if the joint is to be considered locked - ignored for inverse kinematics, but can still be reassigned through transform
Friends
class	Robot_basic
class	Robot
class	mRobot
class	mRobot_min_para

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Member Function Documentation

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.

References d, joint_offset, joint_type, and theta.

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