KrisLibrary  1.0.0
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RobotLink3D Class Reference

Kinematic and physical parameters of a link. More...

#include <RobotLink3D.h>

Public Types

enum  Type { Revolute, Prismatic }
 

Public Member Functions

void SetRotationJoint (const Vector3 &w)
 
void SetTranslationJoint (const Vector3 &v)
 
void GetLocalTransform (Real qi, Frame3D &T) const
 
void GetVelocity (Real qi, Real dqi, const Vector3 &p, Vector3 &vel) const
 velocity of a point (in frame 0) with respect to qi,dqi
 
void GetAngularVelocity (Real dqi, Vector3 &omega) const
 
void GetJacobian (Real qi, const Vector3 &p, Vector3 &Jo, Vector3 &Jp) const
 Jacobian (orientation,position) of a point (in frame 0) with respect to qi.
 
void GetOrientationJacobian (Vector3 &Jo) const
 
void GetPositionJacobian (Real qi, const Vector3 &p, Vector3 &Jp) const
 
void GetJacobian (Real qi, Frame3D &J) const
 
void GetJacobian (Real qi, const Frame3D &Tj_World, Frame3D &J) const
 
void GetWorldInertia (Matrix3 &inertiaWorld) const
 
void GetWorldCOM (Vector3 &comWorld) const
 

Public Attributes

Type type
 Indicates the type of joint- revolute, prismatic.
 
Vector3 w
 The axis of rotation/translation (in local frame)
 
Real mass
 The link mass.
 
Vector3 com
 The center of mass (in local frame)
 
Matrix3 inertia
 The inertia matrix (in local frame)
 
Frame3D T0_Parent
 The initial transformation from the local to the parent frame.
 
Frame3D T_World
 Temporary - holds the current state of local to world transformation.
 

Detailed Description

Kinematic and physical parameters of a link.

Member Function Documentation

void RobotLink3D::GetLocalTransform ( Real  qi,
Frame3D T 
) const

links's transformation is a function of control qi say we're link i T(i->i)(qi) = R(w*qi)oT(v*qi) where R rotates about an axis, T translates T(i->pi)(qi) = T0(i->pi)*T(i->i)(qi)

References Math3D::Matrix3::setRotateX(), Math3D::Matrix3::setRotateY(), and Math3D::Matrix3::setRotateZ().

Referenced by RobotKinematics3D::UpdateFrames(), and RobotKinematics3D::UpdateSelectedFrames().


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