Simox  2.3.50
VirtualRobot::DHParameter Class Reference

Public Member Functions

 DHParameter ()
 
 DHParameter (float theta, float d, float a, float alpha, bool isRadian)
 
void setThetaRadian (float theta, bool isRadian)
 
void setDInMM (float d)
 
void setAInMM (float a)
 
void setAlphaRadian (float alpha, bool isRadian)
 
float thetaRadian () const
 
float dMM () const
 
float aMM () const
 
float alphaRadian () const
 
const Eigen::Matrix4f & thetaRotationRadian () const
 
const Eigen::Matrix4f & dTranslation () const
 
const Eigen::Matrix4f & aTranslation () const
 
const Eigen::Matrix4f & alphaRotationRadian () const
 
Eigen::Matrix4f transformation () const
 The complete transformation. More...
 

Data Fields

bool isSet
 

Protected Member Functions

void updateTransformations ()
 
void updateThetaRotation ()
 
void updateDTranslation ()
 
void updateATranslation ()
 
void updateAlphaRotation ()
 

Protected Attributes

float _theta
 
float _d
 
float _a
 
float _alpha
 
Eigen::Matrix4f _thetaRotation
 
Eigen::Matrix4f _dTranslation
 
Eigen::Matrix4f _aTranslation
 
Eigen::Matrix4f _alphaRotation
 

Constructor & Destructor Documentation

VirtualRobot::DHParameter::DHParameter ( )
inline
VirtualRobot::DHParameter::DHParameter ( float  theta,
float  d,
float  a,
float  alpha,
bool  isRadian 
)
inline

Member Function Documentation

float VirtualRobot::DHParameter::alphaRadian ( ) const
inline
const Eigen::Matrix4f& VirtualRobot::DHParameter::alphaRotationRadian ( ) const
inline
float VirtualRobot::DHParameter::aMM ( ) const
inline
const Eigen::Matrix4f& VirtualRobot::DHParameter::aTranslation ( ) const
inline
float VirtualRobot::DHParameter::dMM ( ) const
inline
const Eigen::Matrix4f& VirtualRobot::DHParameter::dTranslation ( ) const
inline
void VirtualRobot::DHParameter::setAInMM ( float  a)
inline
void VirtualRobot::DHParameter::setAlphaRadian ( float  alpha,
bool  isRadian 
)
inline
void VirtualRobot::DHParameter::setDInMM ( float  d)
inline
void VirtualRobot::DHParameter::setThetaRadian ( float  theta,
bool  isRadian 
)
inline
float VirtualRobot::DHParameter::thetaRadian ( ) const
inline
const Eigen::Matrix4f& VirtualRobot::DHParameter::thetaRotationRadian ( ) const
inline
Eigen::Matrix4f VirtualRobot::DHParameter::transformation ( ) const
inline

The complete transformation.

void VirtualRobot::DHParameter::updateAlphaRotation ( )
inlineprotected
void VirtualRobot::DHParameter::updateATranslation ( )
inlineprotected
void VirtualRobot::DHParameter::updateDTranslation ( )
inlineprotected
void VirtualRobot::DHParameter::updateThetaRotation ( )
inlineprotected
void VirtualRobot::DHParameter::updateTransformations ( )
inlineprotected

Field Documentation

float VirtualRobot::DHParameter::_a
protected
float VirtualRobot::DHParameter::_alpha
protected
Eigen::Matrix4f VirtualRobot::DHParameter::_alphaRotation
protected
Eigen::Matrix4f VirtualRobot::DHParameter::_aTranslation
protected
float VirtualRobot::DHParameter::_d
protected
Eigen::Matrix4f VirtualRobot::DHParameter::_dTranslation
protected
float VirtualRobot::DHParameter::_theta
protected
Eigen::Matrix4f VirtualRobot::DHParameter::_thetaRotation
protected
bool VirtualRobot::DHParameter::isSet