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SIGEL_Robot::SIG_RotationalJoint Class Reference

SIG_RotationalJoint models a joint, at which the adjacent links can rotate around a common axis. More...

#include <SIG_RotationalJoint.h>

Inheritance diagram for SIGEL_Robot::SIG_RotationalJoint:

SIGEL_Robot::SIG_Joint List of all members.

Public Methods

 SIG_RotationalJoint (SIG_Robot *par, QString n, int nr = -1)
 SIG_RotationalJoint (SIG_Robot *par, QTextStream & tx)
virtual ~SIG_RotationalJoint (void)
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 H)
void setRightPoints (DL_vector B, DL_vector D, DL_vector H)
void setRange (DL_Scalar mn, DL_Scalar mx, DL_Scalar ii)
DL_vector getLeftBase (void) const
DL_vector getLeftDir (void) const
DL_vector getLeftHand (void) const
DL_vector getRightBase (void) const
DL_vector getRightDir (void) const
DL_vector getRightHand (void) const
DL_Scalar getMin (void) const
DL_Scalar getMax (void) const
DL_Scalar getIni (void) 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 leftBase
DL_vector rightBase
DL_vector leftDir
DL_vector rightDir
DL_vector leftHand
DL_vector rightHand
DL_Scalar minimum
DL_Scalar maximum
DL_Scalar initial

Detailed Description

SIG_RotationalJoint models a joint, at which the adjacent links can rotate around a common axis.

This class specializes SIG_Joint.

Definition at line 18 of file SIG_RotationalJoint.h.


Constructor & Destructor Documentation

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

Definition at line 7 of file SIG_RotationalJoint.cpp.

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

Definition at line 11 of file SIG_RotationalJoint.cpp.

SIGEL_Robot::SIG_RotationalJoint::~SIG_RotationalJoint ( void ) [virtual]
 

Definition at line 23 of file SIG_RotationalJoint.cpp.


Member Function Documentation

void SIGEL_Robot::SIG_RotationalJoint::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_RotationalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_RotationalJoint::getIni ( void ) const
 

Definition at line 92 of file SIG_RotationalJoint.cpp.

SIG_Joint::JointType SIGEL_Robot::SIG_RotationalJoint::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_RotationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_RotationalJoint::getLeftBase ( void ) const
 

Definition at line 52 of file SIG_RotationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_RotationalJoint::getLeftDir ( void ) const
 

Definition at line 57 of file SIG_RotationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_RotationalJoint::getLeftHand ( void ) const
 

Definition at line 62 of file SIG_RotationalJoint.cpp.

void SIGEL_Robot::SIG_RotationalJoint::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_RotationalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_RotationalJoint::getMax ( void ) const
 

Definition at line 87 of file SIG_RotationalJoint.cpp.

DL_Scalar SIGEL_Robot::SIG_RotationalJoint::getMin ( void ) const
 

Definition at line 82 of file SIG_RotationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_RotationalJoint::getRightBase ( void ) const
 

Definition at line 67 of file SIG_RotationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_RotationalJoint::getRightDir ( void ) const
 

Definition at line 72 of file SIG_RotationalJoint.cpp.

DL_vector SIGEL_Robot::SIG_RotationalJoint::getRightHand ( void ) const
 

Definition at line 77 of file SIG_RotationalJoint.cpp.

void SIGEL_Robot::SIG_RotationalJoint::setLeftPoints ( DL_vector B,
DL_vector D,
DL_vector H )
 

Definition at line 31 of file SIG_RotationalJoint.cpp.

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

Definition at line 45 of file SIG_RotationalJoint.cpp.

void SIGEL_Robot::SIG_RotationalJoint::setRightPoints ( DL_vector B,
DL_vector D,
DL_vector H )
 

Definition at line 38 of file SIG_RotationalJoint.cpp.

void SIGEL_Robot::SIG_RotationalJoint::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_RotationalJoint.cpp.

void SIGEL_Robot::SIG_RotationalJoint::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_RotationalJoint.cpp.


Member Data Documentation

DL_Scalar SIGEL_Robot::SIG_RotationalJoint::initial [private]
 

Definition at line 23 of file SIG_RotationalJoint.h.

DL_vector SIGEL_Robot::SIG_RotationalJoint::leftBase [private]
 

Definition at line 20 of file SIG_RotationalJoint.h.

DL_vector SIGEL_Robot::SIG_RotationalJoint::leftDir [private]
 

Definition at line 21 of file SIG_RotationalJoint.h.

DL_vector SIGEL_Robot::SIG_RotationalJoint::leftHand [private]
 

Definition at line 22 of file SIG_RotationalJoint.h.

DL_Scalar SIGEL_Robot::SIG_RotationalJoint::maximum [private]
 

Definition at line 23 of file SIG_RotationalJoint.h.

DL_Scalar SIGEL_Robot::SIG_RotationalJoint::minimum [private]
 

Definition at line 23 of file SIG_RotationalJoint.h.

DL_vector SIGEL_Robot::SIG_RotationalJoint::rightBase [private]
 

Definition at line 20 of file SIG_RotationalJoint.h.

DL_vector SIGEL_Robot::SIG_RotationalJoint::rightDir [private]
 

Definition at line 21 of file SIG_RotationalJoint.h.

DL_vector SIGEL_Robot::SIG_RotationalJoint::rightHand [private]
 

Definition at line 22 of file SIG_RotationalJoint.h.


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