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)
	Constructor. More...
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< DHParameterSet >	getDHParameters (rw::core::Ptr< rw::models::SerialDevice > device)
	Returns the DH-Parameters for a SerialDevice. More...
static const DHParameterSet *	get (const rw::core::PropertyMap &pmap)
static const DHParameterSet *	get (const rw::models::Joint *joint)
static void	set (const DHParameterSet &dhset, rw::core::PropertyMap &pmap)
static void	set (const DHParameterSet &dhset, rw::core::Ptr< rw::kinematics::Frame > joint)

Detailed Description

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

Constructor & Destructor Documentation

DHParameterSet() [1/3]

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() [2/3]

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] \( \theta_{i-1}\)
type	documentation missing !

DHParameterSet() [3/3]

DHParameterSet ( double  alpha, double  a, double  beta, double  b, bool  parallel  )

inline

Constructor.

Parameters

alpha	[in] \( \alpha_{i-1}\)
a	[in] \( a_{i-1}\)
beta	[in] documentation missing !
b	[in] documentation missing !
parallel	[in] documentation missing !

Member Function Documentation

getDHParameters()

static std::vector<DHParameterSet> getDHParameters ( rw::core::Ptr< rw::models::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 \( \theta_{i} \)

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

• DHParameterSet.hpp