DH_Link Class Reference

#include <basic/kinematics/DH_Link.h>

Inheritance diagram for DH_Link:

[legend]Collaboration diagram for DH_Link:


Public Member Functions
	DH_Link (FrameManager *frameManager)
	DH_Link (const DH_Link &right)
virtual	~DH_Link ()
virtual void	UpdateFrames () const
unsigned int	FrameNum () const
virtual LinkBase *	Clone () const
void	SetAlpha (const double value)
void	SetA (const double value)
void	SetD (const double value)
void	SetTheta (const double value)
__inline double	GetA () const
__inline double	GetD () const
__inline double	GetAlpha () const
__inline double	GetTheta () const
void	SetControllingParameter (DH_Parameter parameter)
virtual void	SetJointVariable (const double newValue)
virtual bool	DoesLinkControlFrame (const unsigned int frameNum) const
virtual void	Serialize (ostream &os) const
virtual void	AddObject (const ObjectBase *object)
virtual bool	DeSerialize (IfstreamWithComments &is)
double	GetJointVariable () const
DH_Parameter	GetJointType () const
Frame	GetFrame () const
Frame &	GetFrame (Frame &frame)
Protected Attributes
unsigned int	frame
double	alpha
double	a
double	d
double	theta
double *	q
DH_Parameter	type
Friends
std::ostream &	operator<< (std::ostream &os, const DH_Link &v)
std::istream &	operator>> (std::istream &is, DH_Link &v)

Detailed Description

Definition at line 57 of file DH_Link.h.

Constructor & Destructor Documentation

DH_Link::DH_Link ( FrameManager * frameManager )

Definition at line 47 of file DH_Link.cpp.
References FrameManager::AddFrame(), LinkBase::controlledFrames, frame, LinkBase::frameManager, and FrameNum().
Referenced by Clone().
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DH_Link::DH_Link ( const DH_Link & right )

Definition at line 66 of file DH_Link.cpp.
References a, alpha, d, frame, q, and theta.

DH_Link::~DH_Link ( ) [virtual]

Definition at line 111 of file DH_Link.cpp.
References q.

Member Function Documentation

void DH_Link::AddObject ( const ObjectBase * object ) [virtual]

Definition at line 265 of file DH_Link.cpp.
References ObjectBase::Clone(), FrameNum(), LinkBase::objects, and Entity::SetBaseFrame().
Referenced by DeSerialize().
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LinkBase * DH_Link::Clone ( ) const [virtual]

Implements LinkBase.
Definition at line 168 of file DH_Link.cpp.
References DH_Link().
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bool DH_Link::DeSerialize ( IfstreamWithComments & is ) [virtual]

Reimplemented from LinkBase.
Definition at line 276 of file DH_Link.cpp.
References a, AddObject(), alpha, ObjectBase::Clone(), d, LinkBase::DeSerialize(), IfstreamWithComments::eatwhite(), frame, GetAbsoluteFileName(), IfstreamWithComments::getline(), VRML_Reader::GetTheObject(), IfstreamWithComments::path, VRML_20_Reader::Read(), SetControllingParameter(), VRML_Reader::SetFilename(), Entity::SetName(), theta, MPKstring::TrimLeadingWhitespace(), MPKstring::TrimTrailingWhitespace(), and type.
Referenced by operator>>().
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bool DH_Link::DoesLinkControlFrame ( const unsigned int frameNum ) const [virtual]

Implements LinkBase.
Definition at line 247 of file DH_Link.cpp.
References frame.

unsigned int DH_Link::FrameNum ( ) const

Definition at line 161 of file DH_Link.cpp.
References frame.
Referenced by AddObject(), DH_Link(), and CRedundant::GetDesireFrameByConfiguration().

__inline double DH_Link::GetA ( ) const [inline]

Definition at line 108 of file DH_Link.h.
References a.
Referenced by CPassive::ResolveJoints().

__inline double DH_Link::GetAlpha ( ) const [inline]

Definition at line 110 of file DH_Link.h.
References alpha.
Referenced by CPassive::ResolveJoints().

__inline double DH_Link::GetD ( ) const [inline]

Definition at line 109 of file DH_Link.h.
References d.
Referenced by CPassive::ResolveJoints().

Frame & DH_Link::GetFrame ( Frame & frame )

Definition at line 390 of file DH_Link.cpp.
References a, alpha, CosDeg(), d, frame, SinDeg(), and theta.
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Frame DH_Link::GetFrame ( ) const

Definition at line 351 of file DH_Link.cpp.
References a, alpha, CosDeg(), d, SinDeg(), and theta.
Referenced by CPassive::ResolveJoints().
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DH_Parameter DH_Link::GetJointType ( ) const

Definition at line 339 of file DH_Link.cpp.
References type.
Referenced by CPassive::Inverse().

double DH_Link::GetJointVariable ( ) const

Definition at line 344 of file DH_Link.cpp.
References q.

__inline double DH_Link::GetTheta ( ) const [inline]

Definition at line 111 of file DH_Link.h.
References theta.
Referenced by CPassive::ResolveJoints().

void DH_Link::Serialize ( ostream & os ) const [virtual]

Reimplemented from LinkBase.
Definition at line 258 of file DH_Link.cpp.

void DH_Link::SetA ( const double value )

Definition at line 182 of file DH_Link.cpp.
References a.

void DH_Link::SetAlpha ( const double value )

Definition at line 175 of file DH_Link.cpp.
References alpha.

void DH_Link::SetControllingParameter ( DH_Parameter parameter )

Definition at line 203 of file DH_Link.cpp.
References a, alpha, d, DH_A, DH_ALPHA, DH_D, DH_THETA, q, theta, and type.
Referenced by DeSerialize().

void DH_Link::SetD ( const double value )

Definition at line 189 of file DH_Link.cpp.
References d.

void DH_Link::SetJointVariable ( const double newValue ) [virtual]

Implements LinkBase.
Definition at line 238 of file DH_Link.cpp.
References q.
Referenced by CPassive::ResolveJoints().

void DH_Link::SetTheta ( const double value )

Definition at line 196 of file DH_Link.cpp.
References theta.

void DH_Link::UpdateFrames ( ) const [virtual]

Implements LinkBase.
Definition at line 122 of file DH_Link.cpp.
References a, alpha, CosDeg(), d, frame, LinkBase::frameManager, FrameManager::GetFrameRef(), FrameManager::MarkAllFramesChanged(), Matrix4x4::SetValues(), SinDeg(), and theta.
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Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream & os,

const DH_Link & v

) [friend]

Definition at line 426 of file DH_Link.cpp.

std::istream& operator>> ( std::istream & is,

DH_Link & v

) [friend]

Member Data Documentation

double DH_Link::a [protected]

Definition at line 175 of file DH_Link.h.
Referenced by DeSerialize(), DH_Link(), GetA(), GetFrame(), operator<<(), SetA(), SetControllingParameter(), and UpdateFrames().

double DH_Link::alpha [protected]

Definition at line 170 of file DH_Link.h.
Referenced by DeSerialize(), DH_Link(), GetAlpha(), GetFrame(), operator<<(), SetAlpha(), SetControllingParameter(), and UpdateFrames().

double DH_Link::d [protected]

Definition at line 180 of file DH_Link.h.
Referenced by DeSerialize(), DH_Link(), GetD(), GetFrame(), operator<<(), SetControllingParameter(), SetD(), and UpdateFrames().

unsigned int DH_Link::frame [protected]

Definition at line 165 of file DH_Link.h.
Referenced by DeSerialize(), DH_Link(), DoesLinkControlFrame(), FrameNum(), GetFrame(), operator<<(), and UpdateFrames().

double* DH_Link::q [protected]

Definition at line 190 of file DH_Link.h.
Referenced by DH_Link(), GetJointVariable(), SetControllingParameter(), SetJointVariable(), and ~DH_Link().

double DH_Link::theta [protected]

Definition at line 185 of file DH_Link.h.
Referenced by DeSerialize(), DH_Link(), GetFrame(), GetTheta(), operator<<(), SetControllingParameter(), SetTheta(), and UpdateFrames().

DH_Parameter DH_Link::type [protected]

Definition at line 195 of file DH_Link.h.
Referenced by DeSerialize(), GetJointType(), operator<<(), and SetControllingParameter().

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

basic/kinematics/DH_Link.h
basic/kinematics/DH_Link.cpp

Generated on Sat Apr 1 21:47:00 2006 for Motion Planning Kernel by

1.4.6-NO

DH_Link Class Reference

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation