DH_Link< DataType, dim > Class Template Reference

#include <DH_Link.h>

List of all members.

Public Types
enum	arrangmentType { intersect, parallel, coincident, skew }
typedef Joint< DataType, dim >	JointType
Public Member Functions
	DH_Link ()
	DH_Link (JointType &a, JointType &b)
	DH_Link (JointType &a, JointType &b, DataType r, DataType al, DataType d, DataType th)
	~DH_Link ()
void	setDefault ()
virtual int	getID ()
virtual void	setDHMat (MType val)
virtual MType	GetDHMat ()
void	calcDenavitHartenbergParam ()
void	calcDenavitHartenbergMat ()
void	update ()
void	actuate (DataType val)
void	setJacobian ()
void	actuate (DataType pval, DataType vval)
void	actuate (DataType xangle, DataType yangle, DataType zangle, DataType offset)
void	print (Scene< DataType, dim > &thisScene, int level)
void	setId (int v)
void	setQ_pre (DataType v)
void	setQ_dot_pre (DataType v)
virtual void	Restart (std::ifstream &ifs, int &pos, double &t, double &dt)
virtual void	Checkpointing (std::ofstream &ofs)
virtual void	setChild (JointType *newChild)
virtual JointType *	getChild ()
virtual DataType	getTheta ()
Protected Attributes
int	id
PType	origin
PType	xaxis
PType	yaxis
PType	zaxis
PType	l0i
DataType	radius_ref
DataType	alpha_ref
DataType	depth_ref
DataType	theta_ref
DataType	q_pre_ref
DataType	q_dot_pre_ref
DataType	radius
DataType	alpha
DataType	depth
DataType	theta
DataType	q_pre
DataType	q_dot_pre
JointType *	parent
JointType *	child
int	arrangement
MType	DHMat
BPType	Jv
BPType	Jw
Friends
class	Joint< DataType, dim >
class	DH_Chain< DataType, dim >
class	SceneBase< DataType, dim >
class	Scene< DataType, dim >

---

Detailed Description

template<class DataType, int dim>
class DH_Link< DataType, dim >

Container used to expresss the connection of 2 joints with Denavit-Hartenberg parameters.

---

Member Typedef Documentation

template<class DataType , int dim>

typedef Joint<DataType,dim> DH_Link< DataType, dim >::JointType

---

Member Enumeration Documentation

template<class DataType , int dim>

enum DH_Link::arrangmentType

Enumerator:

intersect
parallel
coincident
skew

---

Constructor & Destructor Documentation

template<class DataType , int dim>

DH_Link< DataType, dim >::DH_Link

(

)

[inline]

References DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

DH_Link< DataType, dim >::DH_Link	(	JointType &	a,
		JointType &	b
	)			[inline]

References DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::child, DH_Link< DataType, dim >::parent, and DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

DH_Link< DataType, dim >::DH_Link	(	JointType &	a,
		JointType &	b,
		DataType	r,
		DataType	al,
		DataType	d,
		DataType	th
	)			[inline]

References DH_Link< DataType, dim >::alpha, DH_Link< DataType, dim >::calcDenavitHartenbergMat(), Joint< DataType, dim >::CFIdTag(), DH_Link< DataType, dim >::child, DH_Link< DataType, dim >::depth, DH_Link< DataType, dim >::parent, DH_Link< DataType, dim >::radius, DH_Link< DataType, dim >::setDefault(), stringID(), DH_Link< DataType, dim >::theta, and Joint< DataType, dim >::type.

template<class DataType , int dim>

DH_Link< DataType, dim >::~DH_Link

(

)

[inline]

---

Member Function Documentation

template<class DataType , int dim>

void DH_Link< DataType, dim >::actuate	(	DataType	xangle,
		DataType	yangle,
		DataType	zangle,
		DataType	offset
	)			[inline]

References DH_Link< DataType, dim >::alpha, DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::depth, DH_Link< DataType, dim >::parent, DH_Link< DataType, dim >::q_pre, DH_Link< DataType, dim >::radius, Joint< DataType, dim >::sphericalWrist, DH_Link< DataType, dim >::theta, and Joint< DataType, dim >::type.

template<class DataType , int dim>

void DH_Link< DataType, dim >::actuate	(	DataType	pval,
		DataType	vval
	)			[inline]

References DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::q_dot_pre, DH_Link< DataType, dim >::q_pre, and DH_Link< DataType, dim >::setJacobian().

template<class DataType , int dim>

void DH_Link< DataType, dim >::actuate

(

DataType

val

)

[inline]

References DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::q_dot_pre, and DH_Link< DataType, dim >::q_pre.

Referenced by main().

template<class DataType , int dim>

void DH_Link< DataType, dim >::calcDenavitHartenbergMat

(

)

[inline]

References DH_Link< DataType, dim >::alpha, DenavitHartenbergMat(), DenavitHartenbergMat_spericalWrist(), DH_Link< DataType, dim >::depth, DH_Link< DataType, dim >::DHMat, DH_Link< DataType, dim >::parent, Joint< DataType, dim >::prismatic, DH_Link< DataType, dim >::q_pre, DH_Link< DataType, dim >::radius, Joint< DataType, dim >::revolute, Joint< DataType, dim >::sphericalWrist, DH_Link< DataType, dim >::theta, and Joint< DataType, dim >::type.

Referenced by DH_Link< DataType, dim >::actuate(), DH_Link< DataType, dim >::DH_Link(), and DH_Link< DataType, dim >::update().

template<class DataType , int dim>

void DH_Link< DataType, dim >::calcDenavitHartenbergParam

(

)

[inline]

References DH_Link< DataType, dim >::alpha, angle3D2_axis(), angle3D3_axis(), DH_Link< DataType, dim >::arrangement, DH_Link< DataType, dim >::child, DH_Link< DataType, dim >::coincident, cross3D(), DH_Link< DataType, dim >::depth, dist3D_Line_to_Line(), DH_Link< DataType, dim >::intersect, DH_Link< DataType, dim >::l0i, norm_2(), normalize(), octant2(), DH_Link< DataType, dim >::origin, Joint< DataType, dim >::origin, DH_Link< DataType, dim >::parallel, DH_Link< DataType, dim >::parent, project(), DH_Link< DataType, dim >::radius, DH_Link< DataType, dim >::skew, DH_Link< DataType, dim >::theta, TOL, Joint< DataType, dim >::xaxis, DH_Link< DataType, dim >::xaxis, and Joint< DataType, dim >::zaxis.

Referenced by DH_Link< DataType, dim >::DH_Link(), and DH_Link< DataType, dim >::update().

template<class DataType , int dim>

virtual void DH_Link< DataType, dim >::Checkpointing

(

std::ofstream &

ofs

)

[inline, virtual]

References DH_Link< DataType, dim >::alpha, DH_Link< DataType, dim >::arrangement, Joint< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::child, DH_Link< DataType, dim >::depth, DH_Link< DataType, dim >::DHMat, DH_Link< DataType, dim >::Jv, DH_Link< DataType, dim >::Jw, DH_Link< DataType, dim >::l0i, DH_Link< DataType, dim >::origin, DH_Link< DataType, dim >::parent, DH_Link< DataType, dim >::radius, DH_Link< DataType, dim >::theta, DH_Link< DataType, dim >::xaxis, DH_Link< DataType, dim >::yaxis, and DH_Link< DataType, dim >::zaxis.

template<class DataType , int dim>

virtual JointType* DH_Link< DataType, dim >::getChild

(

)

[inline, virtual]

References DH_Link< DataType, dim >::child.

template<class DataType , int dim>

virtual MType DH_Link< DataType, dim >::GetDHMat

(

)

[inline, virtual]

References DH_Link< DataType, dim >::DHMat.

template<class DataType , int dim>

virtual int DH_Link< DataType, dim >::getID

(

)

[inline, virtual]

References DH_Link< DataType, dim >::id.

Referenced by main().

template<class DataType , int dim>

virtual DataType DH_Link< DataType, dim >::getTheta

(

)

[inline, virtual]

References DH_Link< DataType, dim >::theta.

template<class DataType , int dim>

void DH_Link< DataType, dim >::print	(	Scene< DataType, dim > &	thisScene,
		int	level
	)			[inline]

References DH_Link< DataType, dim >::alpha, Joint< DataType, dim >::CFIdTag(), checkTag(), DH_Link< DataType, dim >::child, DH_Link< DataType, dim >::depth, DH_Link< DataType, dim >::DHMat, SceneBase< DataType, dim >::GetAssembly(), SceneBase< DataType, dim >::GetPart(), Joint< DataType, dim >::id, SceneBase< DataType, dim >::Name(), DH_Link< DataType, dim >::parent, DH_Link< DataType, dim >::q_dot_pre, DH_Link< DataType, dim >::q_pre, DH_Link< DataType, dim >::radius, DH_Link< DataType, dim >::theta, and Joint< DataType, dim >::type.

Referenced by main().

template<class DataType , int dim>

virtual void DH_Link< DataType, dim >::Restart	(	std::ifstream &	ifs,
		int &	pos,
		double &	t,
		double &	dt
	)			[inline, virtual]

References DH_Link< DataType, dim >::alpha, DH_Link< DataType, dim >::arrangement, DH_Link< DataType, dim >::child, DH_Link< DataType, dim >::depth, DH_Link< DataType, dim >::DHMat, DH_Link< DataType, dim >::Jv, DH_Link< DataType, dim >::Jw, DH_Link< DataType, dim >::l0i, DH_Link< DataType, dim >::origin, DH_Link< DataType, dim >::parent, DH_Link< DataType, dim >::radius, Joint< DataType, dim >::Restart(), DH_Link< DataType, dim >::theta, DH_Link< DataType, dim >::xaxis, DH_Link< DataType, dim >::yaxis, and DH_Link< DataType, dim >::zaxis.

template<class DataType , int dim>

virtual void DH_Link< DataType, dim >::setChild

(

JointType *

newChild

)

[inline, virtual]

References DH_Link< DataType, dim >::child.

template<class DataType , int dim>

void DH_Link< DataType, dim >::setDefault

(

)

[inline]

References DH_Link< DataType, dim >::alpha, DH_Link< DataType, dim >::depth, DH_Link< DataType, dim >::DHMat, DH_Link< DataType, dim >::Jv, DH_Link< DataType, dim >::Jw, DH_Link< DataType, dim >::l0i, DH_Link< DataType, dim >::origin, DH_Link< DataType, dim >::q_dot_pre, DH_Link< DataType, dim >::q_pre, DH_Link< DataType, dim >::radius, DH_Link< DataType, dim >::theta, DH_Link< DataType, dim >::xaxis, DH_Link< DataType, dim >::yaxis, and DH_Link< DataType, dim >::zaxis.

Referenced by DH_Link< DataType, dim >::DH_Link().

template<class DataType , int dim>

virtual void DH_Link< DataType, dim >::setDHMat

(

MType

val

)

[inline, virtual]

References DH_Link< DataType, dim >::DHMat.

template<class DataType , int dim>

void DH_Link< DataType, dim >::setId

(

int

v

)

[inline]

template<class DataType , int dim>

void DH_Link< DataType, dim >::setJacobian

(

)

[inline]

References DH_Link< DataType, dim >::Jv, DH_Link< DataType, dim >::Jw, DH_Link< DataType, dim >::parent, Joint< DataType, dim >::prismatic, DH_Link< DataType, dim >::q_dot_pre, Joint< DataType, dim >::revolute, Joint< DataType, dim >::sphericalWrist, Joint< DataType, dim >::type, and Joint< DataType, dim >::zaxis.

Referenced by DH_Link< DataType, dim >::actuate().

template<class DataType , int dim>

void DH_Link< DataType, dim >::setQ_dot_pre

(

DataType

v

)

[inline]

References DH_Link< DataType, dim >::q_dot_pre.

template<class DataType , int dim>

void DH_Link< DataType, dim >::setQ_pre

(

DataType

v

)

[inline]

References DH_Link< DataType, dim >::q_pre.

template<class DataType , int dim>

void DH_Link< DataType, dim >::update

(

)

[inline]

References DH_Link< DataType, dim >::calcDenavitHartenbergMat(), and DH_Link< DataType, dim >::calcDenavitHartenbergParam().

---

Friends And Related Function Documentation

template<class DataType , int dim>

friend class DH_Chain< DataType, dim > [friend]

template<class DataType , int dim>

friend class Joint< DataType, dim > [friend]

template<class DataType , int dim>

friend class Scene< DataType, dim > [friend]

template<class DataType , int dim>

friend class SceneBase< DataType, dim > [friend]

---

Member Data Documentation

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::alpha [protected]

Referenced by DH_Link< DataType, dim >::actuate(), DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::DH_Link(), DH_Link< DataType, dim >::print(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::alpha_ref [protected]

template<class DataType , int dim>

int DH_Link< DataType, dim >::arrangement [protected]

Referenced by DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::Checkpointing(), and DH_Link< DataType, dim >::Restart().

template<class DataType , int dim>

JointType * DH_Link< DataType, dim >::child [protected]

Referenced by DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Chain< DataType, dim >::calcDHMat(), DH_Chain< DataType, dim >::calcNativeDHMat(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::DH_Link(), DH_Link< DataType, dim >::getChild(), DH_Link< DataType, dim >::print(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setChild().

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::depth [protected]

Referenced by DH_Link< DataType, dim >::actuate(), DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::DH_Link(), DH_Link< DataType, dim >::print(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::depth_ref [protected]

template<class DataType , int dim>

MType DH_Link< DataType, dim >::DHMat [protected]

Referenced by DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Chain< DataType, dim >::calcNativeDHMat(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::GetDHMat(), DH_Link< DataType, dim >::print(), DH_Link< DataType, dim >::Restart(), DH_Link< DataType, dim >::setDefault(), and DH_Link< DataType, dim >::setDHMat().

template<class DataType , int dim>

int DH_Link< DataType, dim >::id [protected]

index number in Scene DH_Links

Referenced by DH_Chain< DataType, dim >::addLink(), DH_Chain< DataType, dim >::addNativeLink(), and DH_Link< DataType, dim >::getID().

template<class DataType , int dim>

BPType DH_Link< DataType, dim >::Jv [protected]

Referenced by DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::Restart(), DH_Link< DataType, dim >::setDefault(), and DH_Link< DataType, dim >::setJacobian().

template<class DataType , int dim>

BPType DH_Link< DataType, dim >::Jw [protected]

Referenced by DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::Restart(), DH_Link< DataType, dim >::setDefault(), and DH_Link< DataType, dim >::setJacobian().

template<class DataType , int dim>

PType DH_Link< DataType, dim >::l0i [protected]

Referenced by DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

PType DH_Link< DataType, dim >::origin [protected]

Referenced by DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

JointType* DH_Link< DataType, dim >::parent [protected]

Referenced by DH_Link< DataType, dim >::actuate(), DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::DH_Link(), DH_Link< DataType, dim >::print(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setJacobian().

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::q_dot_pre [protected]

Referenced by DH_Link< DataType, dim >::actuate(), DH_Link< DataType, dim >::print(), DH_Link< DataType, dim >::setDefault(), DH_Link< DataType, dim >::setJacobian(), and DH_Link< DataType, dim >::setQ_dot_pre().

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::q_dot_pre_ref [protected]

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::q_pre [protected]

Referenced by DH_Link< DataType, dim >::actuate(), DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::print(), DH_Link< DataType, dim >::setDefault(), and DH_Link< DataType, dim >::setQ_pre().

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::q_pre_ref [protected]

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::radius [protected]

Referenced by DH_Link< DataType, dim >::actuate(), DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::DH_Link(), DH_Link< DataType, dim >::print(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::radius_ref [protected]

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::theta [protected]

Referenced by DH_Link< DataType, dim >::actuate(), DH_Link< DataType, dim >::calcDenavitHartenbergMat(), DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::DH_Link(), DH_Link< DataType, dim >::getTheta(), DH_Link< DataType, dim >::print(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

DataType DH_Link< DataType, dim >::theta_ref [protected]

template<class DataType , int dim>

PType DH_Link< DataType, dim >::xaxis [protected]

Referenced by DH_Link< DataType, dim >::calcDenavitHartenbergParam(), DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

PType DH_Link< DataType, dim >::yaxis [protected]

Referenced by DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setDefault().

template<class DataType , int dim>

PType DH_Link< DataType, dim >::zaxis [protected]

Referenced by DH_Link< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::Restart(), and DH_Link< DataType, dim >::setDefault().

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

• kernel/DH_Link.h