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DHParameterSet Class Reference

Simple class to help represent a set of Denavit-Hartenberg parameters. More...

#include <DHParameterSet.hpp>

Public Member Functions

 DHParameterSet ()
 Constructor for DHParameters initialized to zero.
 
 DHParameterSet (double alpha, double a, double d, double theta)
 Constructor. More...
 
 DHParameterSet (double alpha, double a, double d, double theta, const std::string &type)
 Constructor. More...
 
 DHParameterSet (double alpha, double a, double beta, double b, bool parallel)
 
double alpha () const
 $\alpha_{i-1}$
 
double a () const
 $a_{i-1}$
 
double d () const
 $d_{i} $
 
double theta () const
 
double b () const
 
double beta () const
 
bool isParallel () const
 
std::string getType () const
 the DH-convention type
 

Static Public Member Functions

static std::vector< DHParameterSetgetDHParameters (rw::common::Ptr< SerialDevice > device)
 Returns the DH-Parameters for a SerialDevice. More...
 
static const DHParameterSetget (const rw::common::PropertyMap &pmap)
 
static const DHParameterSetget (const rw::models::Joint *joint)
 
static void set (const DHParameterSet &dhset, rw::common::PropertyMap &pmap)
 
static void set (const DHParameterSet &dhset, rw::kinematics::Frame *joint)
 

Detailed Description

Simple class to help represent a set of Denavit-Hartenberg parameters.

Constructor & Destructor Documentation

◆ DHParameterSet() [1/2]

DHParameterSet ( double  alpha,
double  a,
double  d,
double  theta 
)
inline

Constructor.

Parameters
alpha[in] $\alpha_{i-1}$
a[in] $a_{i-1}$
d[in] $d_{i}$
theta[in] $\theta_{i-1}$

◆ DHParameterSet() [2/2]

DHParameterSet ( double  alpha,
double  a,
double  d,
double  theta,
const std::string &  type 
)
inline

Constructor.

Parameters
alpha[in] $\alpha_{i-1}$
a[in] $a_{i-1}$
d[in] $d_{i}$
theta[in] $\theta_{i-1}$

Member Function Documentation

◆ b()

double b ( ) const
inline

$brief $\theta_{i} $

◆ beta()

double beta ( ) const
inline

$brief $\theta_{i} $

◆ getDHParameters()

static std::vector<DHParameterSet> getDHParameters ( rw::common::Ptr< SerialDevice device)
static

Returns the DH-Parameters for a SerialDevice.

If no or only a partial DH representation exists only the list will be empty or non-complete.

Parameters
device[in] SerialDevice for which to get the DH parameters
Returns
The set of DH parameters

◆ theta()

double theta ( ) const
inline

$brief $\theta_{i} $


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