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SIGEL_Robot::SIG_TranslationalJoint Class Reference

SIG_TranslationalJoint models a joint, at which the adjacent links can translate along a common axis. More...

#include <SIG_TranslationalJoint.h>

Inheritance diagram for SIGEL_Robot::SIG_TranslationalJoint:

SIGEL_Robot::SIG_Joint List of all members.

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

Detailed Description

SIG_TranslationalJoint models a joint, at which the adjacent links can translate along a common axis.

This class specializes SIG_Joint.

Definition at line 20 of file SIG_TranslationalJoint.h.


Constructor & Destructor Documentation

SIGEL_Robot::SIG_TranslationalJoint::SIG_TranslationalJoint ( SIG_Robot * par,
QString n,
int nr = -1 )
 

Definition at line 7 of file SIG_TranslationalJoint.cpp.

SIGEL_Robot::SIG_TranslationalJoint::SIG_TranslationalJoint ( SIG_Robot * par,
QTextStream & tx )
 

Definition at line 11 of file SIG_TranslationalJoint.cpp.

SIGEL_Robot::SIG_TranslationalJoint::~SIG_TranslationalJoint ( )
 

Definition at line 23 of file SIG_TranslationalJoint.cpp.


Member Function Documentation

void SIGEL_Robot::SIG_TranslationalJoint::getGeomRelation ( DL_vector & t,
DL_matrix & o,
SIG_Link * origin ) [virtual]
 

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.

DL_Scalar SIGEL_Robot::SIG_TranslationalJoint::getIni ( ) const
 

Definition at line 92 of file SIG_TranslationalJoint.cpp.

SIG_Joint::JointType SIGEL_Robot::SIG_TranslationalJoint::getJointType ( void ) const [virtual]
 

Returns the type of the joint the object represents.

Reimplemented from SIGEL_Robot::SIG_Joint.

Definition at line 26 of file SIG_TranslationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::getLeftBase ( ) const
 

Definition at line 52 of file SIG_TranslationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::getLeftDir ( ) const
 

Definition at line 57 of file SIG_TranslationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::getLeftFix ( ) const
 

Definition at line 62 of file SIG_TranslationalJoint.cpp.

void SIGEL_Robot::SIG_TranslationalJoint::getMDH ( SIG_Link *& predecessor,
double & a,
double & alpha,
double & d,
double & theta,
double & screwD,
double & screwTheta ) [virtual]
 

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.

DL_Scalar SIGEL_Robot::SIG_TranslationalJoint::getMax ( ) const
 

Definition at line 87 of file SIG_TranslationalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_TranslationalJoint::getMin ( ) const
 

Definition at line 82 of file SIG_TranslationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::getRightBase ( ) const
 

Definition at line 67 of file SIG_TranslationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::getRightDir ( ) const
 

Definition at line 72 of file SIG_TranslationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::getRightFix ( ) const
 

Definition at line 77 of file SIG_TranslationalJoint.cpp.

void SIGEL_Robot::SIG_TranslationalJoint::setLeftPoints ( DL_vector B,
DL_vector D,
DL_vector F )
 

Definition at line 31 of file SIG_TranslationalJoint.cpp.

void SIGEL_Robot::SIG_TranslationalJoint::setRange ( DL_Scalar mn,
DL_Scalar mx,
DL_Scalar ii )
 

Definition at line 45 of file SIG_TranslationalJoint.cpp.

void SIGEL_Robot::SIG_TranslationalJoint::setRightPoints ( DL_vector B,
DL_vector D,
DL_vector F )
 

Definition at line 38 of file SIG_TranslationalJoint.cpp.

void SIGEL_Robot::SIG_TranslationalJoint::transformPoints ( SIG_Link * side,
DL_vector mov,
DL_matrix rot ) [virtual]
 

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.

void SIGEL_Robot::SIG_TranslationalJoint::writeToFileTransfer ( QTextStream & tx ) [virtual]
 

Writes the general joint data into a stream.

Reimplemented from SIGEL_Robot::SIG_Joint.

Definition at line 148 of file SIG_TranslationalJoint.cpp.


Member Data Documentation

DL_Scalar SIGEL_Robot::SIG_TranslationalJoint::initial [private]
 

Definition at line 24 of file SIG_TranslationalJoint.h.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::leftBase [private]
 

Definition at line 22 of file SIG_TranslationalJoint.h.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::leftDir [private]
 

Definition at line 23 of file SIG_TranslationalJoint.h.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::leftFix [private]
 

Definition at line 23 of file SIG_TranslationalJoint.h.

DL_Scalar SIGEL_Robot::SIG_TranslationalJoint::maximum [private]
 

Definition at line 24 of file SIG_TranslationalJoint.h.

DL_Scalar SIGEL_Robot::SIG_TranslationalJoint::minimum [private]
 

Definition at line 24 of file SIG_TranslationalJoint.h.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::rightBase [private]
 

Definition at line 22 of file SIG_TranslationalJoint.h.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::rightDir [private]
 

Definition at line 23 of file SIG_TranslationalJoint.h.

DL_vector SIGEL_Robot::SIG_TranslationalJoint::rightFix [private]
 

Definition at line 22 of file SIG_TranslationalJoint.h.


The documentation for this class was generated from the following files:
Generated at Mon Sep 3 01:32:58 2001 for PG 368 - SIGEL by doxygen1.2.3 written by Dimitri van Heesch, © 1997-2000