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

DHParameter() [1/2]

VirtualRobot::DHParameter::DHParameter ( )

inline

DHParameter() [2/2]

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

inline

Member Function Documentation

alphaRadian()

float VirtualRobot::DHParameter::alphaRadian ( ) const

inline

alphaRotationRadian()

const Eigen::Matrix4f& VirtualRobot::DHParameter::alphaRotationRadian ( ) const

inline

aMM()

float VirtualRobot::DHParameter::aMM ( ) const

inline

aTranslation()

const Eigen::Matrix4f& VirtualRobot::DHParameter::aTranslation ( ) const

inline

dMM()

float VirtualRobot::DHParameter::dMM ( ) const

inline

dTranslation()

const Eigen::Matrix4f& VirtualRobot::DHParameter::dTranslation ( ) const

inline

setAInMM()

void VirtualRobot::DHParameter::setAInMM ( float  a )

inline

setAlphaRadian()

void VirtualRobot::DHParameter::setAlphaRadian ( float  alpha, bool  isRadian  )

inline

setDInMM()

void VirtualRobot::DHParameter::setDInMM ( float  d )

inline

setThetaRadian()

void VirtualRobot::DHParameter::setThetaRadian ( float  theta, bool  isRadian  )

inline

thetaRadian()

float VirtualRobot::DHParameter::thetaRadian ( ) const

inline

thetaRotationRadian()

const Eigen::Matrix4f& VirtualRobot::DHParameter::thetaRotationRadian ( ) const

inline

transformation()

Eigen::Matrix4f VirtualRobot::DHParameter::transformation ( ) const

inline

The complete transformation.

updateAlphaRotation()

void VirtualRobot::DHParameter::updateAlphaRotation ( )

inlineprotected

updateATranslation()

void VirtualRobot::DHParameter::updateATranslation ( )

inlineprotected

updateDTranslation()

void VirtualRobot::DHParameter::updateDTranslation ( )

inlineprotected

updateThetaRotation()

void VirtualRobot::DHParameter::updateThetaRotation ( )

inlineprotected

updateTransformations()

void VirtualRobot::DHParameter::updateTransformations ( )

inlineprotected

Field Documentation

_a

float VirtualRobot::DHParameter::_a

protected

_alpha

float VirtualRobot::DHParameter::_alpha

protected

_alphaRotation

Eigen::Matrix4f VirtualRobot::DHParameter::_alphaRotation

protected

_aTranslation

Eigen::Matrix4f VirtualRobot::DHParameter::_aTranslation

protected

_d

float VirtualRobot::DHParameter::_d

protected

_dTranslation

Eigen::Matrix4f VirtualRobot::DHParameter::_dTranslation

protected

_theta

float VirtualRobot::DHParameter::_theta

protected

_thetaRotation

Eigen::Matrix4f VirtualRobot::DHParameter::_thetaRotation

protected

isSet

bool VirtualRobot::DHParameter::isSet