#include <SIG_TranslationalJoint.h>
Inheritance diagram for SIGEL_Robot::SIG_TranslationalJoint:
Public Methods | |
SIG_TranslationalJoint (SIG_Robot *par, QString n, int nr = -1) | |
SIG_TranslationalJoint (SIG_Robot *par, QTextStream & tx) | |
~SIG_TranslationalJoint () | |
virtual JointType | getJointType (void) const |
Returns the type of the joint the object represents. More... | |
void | setLeftPoints (DL_vector B, DL_vector D, DL_vector F) |
void | setRightPoints (DL_vector B, DL_vector D, DL_vector F) |
void | setRange (DL_Scalar mn, DL_Scalar mx, DL_Scalar ii) |
DL_vector | getLeftBase () const |
DL_vector | getLeftDir () const |
DL_vector | getLeftFix () const |
DL_vector | getRightBase () const |
DL_vector | getRightDir () const |
DL_vector | getRightFix () const |
DL_Scalar | getMin () const |
DL_Scalar | getMax () const |
DL_Scalar | getIni () const |
virtual void | transformPoints (SIG_Link *side, DL_vector mov, DL_matrix rot) |
Translates and rotates the points associated to the given link. More... | |
virtual void | getGeomRelation (DL_vector &t, DL_matrix &o, SIG_Link *origin) |
Returns the initial geometric relation of the link on the opposite side. More... | |
virtual void | getMDH (SIG_Link * & predecessor, double & a, double & alpha, double & d, double & theta, double & screwD, double & screwTheta) |
If this is a joint with exactly one Degree of Freedom, getMDH will return a set of modified Denavit-Hartenberg parameters. More... | |
virtual void | writeToFileTransfer (QTextStream & tx) |
Writes the general joint data into a stream. More... | |
Private Attributes | |
DL_vector | rightBase |
DL_vector | leftBase |
DL_vector | rightFix |
DL_vector | leftDir |
DL_vector | rightDir |
DL_vector | leftFix |
DL_Scalar | minimum |
DL_Scalar | maximum |
DL_Scalar | initial |
This class specializes SIG_Joint.
Definition at line 20 of file SIG_TranslationalJoint.h.
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Definition at line 7 of file SIG_TranslationalJoint.cpp. |
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Definition at line 11 of file SIG_TranslationalJoint.cpp. |
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Definition at line 23 of file SIG_TranslationalJoint.cpp. |
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Returns the initial geometric relation of the link on the opposite side. t will be filled with a translation vector, o with a rotation matrix. Reimplemented from SIGEL_Robot::SIG_Joint. Definition at line 111 of file SIG_TranslationalJoint.cpp. |
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Definition at line 92 of file SIG_TranslationalJoint.cpp. |
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Returns the type of the joint the object represents.
Reimplemented from SIGEL_Robot::SIG_Joint. Definition at line 26 of file SIG_TranslationalJoint.cpp. |
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Definition at line 52 of file SIG_TranslationalJoint.cpp. |
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Definition at line 57 of file SIG_TranslationalJoint.cpp. |
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Definition at line 62 of file SIG_TranslationalJoint.cpp. |
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If this is a joint with exactly one Degree of Freedom, getMDH will return a set of modified Denavit-Hartenberg parameters.
Reimplemented from SIGEL_Robot::SIG_Joint. Definition at line 130 of file SIG_TranslationalJoint.cpp. |
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Definition at line 87 of file SIG_TranslationalJoint.cpp. |
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Definition at line 82 of file SIG_TranslationalJoint.cpp. |
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Definition at line 67 of file SIG_TranslationalJoint.cpp. |
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Definition at line 72 of file SIG_TranslationalJoint.cpp. |
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Definition at line 77 of file SIG_TranslationalJoint.cpp. |
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Definition at line 31 of file SIG_TranslationalJoint.cpp. |
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Definition at line 45 of file SIG_TranslationalJoint.cpp. |
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Definition at line 38 of file SIG_TranslationalJoint.cpp. |
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Translates and rotates the points associated to the given link.
Reimplemented from SIGEL_Robot::SIG_Joint. Definition at line 98 of file SIG_TranslationalJoint.cpp. |
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Writes the general joint data into a stream.
Reimplemented from SIGEL_Robot::SIG_Joint. Definition at line 148 of file SIG_TranslationalJoint.cpp. |
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Definition at line 24 of file SIG_TranslationalJoint.h. |
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Definition at line 22 of file SIG_TranslationalJoint.h. |
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Definition at line 23 of file SIG_TranslationalJoint.h. |
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Definition at line 23 of file SIG_TranslationalJoint.h. |
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Definition at line 24 of file SIG_TranslationalJoint.h. |
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Definition at line 24 of file SIG_TranslationalJoint.h. |
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Definition at line 22 of file SIG_TranslationalJoint.h. |
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Definition at line 23 of file SIG_TranslationalJoint.h. |
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Definition at line 22 of file SIG_TranslationalJoint.h. |