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SIG_TranslationalJoint.h

00001 #ifndef SIGEL_ROBOT_SIG_TRANSLATIONALJOINT_H
00002 #define SIGEL_ROBOT_SIG_TRANSLATIONALJOINT_H
00003 
00004 namespace SIGEL_Robot { class SIG_TranslationalJoint; }
00005 
00006 #include <qstring.h>
00007 #include <pointvector.h>
00008 
00009 #include "SIGEL_Robot/SIG_Robot.h"
00010 #include "SIGEL_Robot/SIG_Joint.h"
00011 
00012 namespace SIGEL_Robot
00013 {
00020   class SIG_TranslationalJoint : public SIG_Joint {
00021   private:
00022     DL_vector rightBase, leftBase, rightFix;
00023     DL_vector leftDir, rightDir, leftFix;
00024     DL_Scalar minimum, maximum, initial;
00025   public:
00026     SIG_TranslationalJoint (SIG_Robot *par, QString n, int nr = -1);
00027     SIG_TranslationalJoint (SIG_Robot *par, QTextStream & tx);
00028     ~SIG_TranslationalJoint ();
00029     virtual JointType getJointType (void) const;
00030     void setLeftPoints (DL_vector B, DL_vector D, DL_vector F);
00031     void setRightPoints (DL_vector B, DL_vector D, DL_vector F);
00032     void setRange (DL_Scalar mn, DL_Scalar mx, DL_Scalar ii);
00033     DL_vector getLeftBase () const;
00034     DL_vector getLeftDir () const;
00035     DL_vector getLeftFix () const;
00036     DL_vector getRightBase () const;
00037     DL_vector getRightDir () const;
00038     DL_vector getRightFix () const;
00039     DL_Scalar getMin () const;
00040     DL_Scalar getMax () const;
00041     DL_Scalar getIni () const;
00042 
00043     virtual void transformPoints (SIG_Link *side,
00044                                   DL_vector mov, DL_matrix rot);
00045     virtual void getGeomRelation
00046       (DL_vector &t, DL_matrix &o, SIG_Link *origin);
00047     virtual void getMDH (SIG_Link * & predecessor,
00048                          double & a, double & alpha,
00049                          double & d, double & theta,
00050                          double & screwD, double & screwTheta);
00051     virtual void writeToFileTransfer (QTextStream & tx);
00052   };
00053 }
00054 
00055 #endif // SIGEL_ROBOT_SIG_TRANSLATIONALJOINT_H

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