A class handle single robot link Link implement the model of single of robot link. More...

#include <link.h>

Public Member Functions
	Link ()
	Default Constructor. More...

	Link (const double a0, const double alpha0, const double d0, const double theta0, const double up_lim0=360., const double low_lim0=-360., const double offset0=0., const Joint type0=Joint::REVOLUTE, const double mass0=0., const rb::math::Matrix3 I0=rb::math::Matrix3::Identity(), const rb::math::Vector3 r0=rb::math::Vector3::Zero())
	Constructor with certain link data. More...

	~Link ()
	Destructor.

rb::math::Matrix4	computeTransform (const double &q, const bool &update=false)
	Compute homogeneous transformation matrix of the link by giving joint value, and return the matrix. More...

Public Attributes
double	a
	Link length data member of modified D-H parameter for link. More...

double	alpha
	Link twist data member of modified D-H parameter for link. More...

double	d
	Link offset data member of modified D-H parameter for link. More...

double	theta
	Joint angle data member of modified D-H parameter for link. More...

double	up_lim
	Upper limit data member of modified D-H parameter for link. More...

double	low_lim
	Lower limit data member of modified D-H parameter for link. More...

double	offset
	Joint offset data member of modified D-H parameter for link. More...

rb::math::Matrix4	tf
	Link transformation data member of modified D-H parameter for link. More...

Protected Attributes
Joint	jt_type
	Joint type data member of of the link. More...

double	mass
	Link mass. More...

rb::math::Matrix3	I
	Inertia matrix about link Center of Gravity (CoG). More...

rb::math::Vector3	r
	Link CoG w.r.t link coordinate frame. More...

Friends
rb::math::Matrix4	operator* (Link &lhs, Link &rhs)
	Overload multiply operator to concatenate transformation of two links. More...

rb::math::Matrix4	operator* (rb::math::Matrix4 &lhs, Link &rhs)
	Overload multiply operator to concatenate transformation of two links. More...

rb::math::Matrix4 &	operator*= (rb::math::Matrix4 &lhs, Link &rhs)
	Overload multiply operator to concatenate transformation of two links. More...

Detailed Description

A class handle single robot link Link implement the model of single of robot link.

Constructor & Destructor Documentation

rb::kin::Link::Link ( )

Default Constructor.

Default constructor.

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rb::kin::Link::Link	(	const double	a0,
		const double	alpha0,
		const double	d0,
		const double	theta0,
		const double	up_lim0 = `360.`,
		const double	low_lim0 = `-360.`,
		const double	offset0 = `0.`,
		const Joint	type0 = `Joint::REVOLUTE`,
		const double	mass0 = `0.`,
		const rb::math::Matrix3	I0 = `rb::math::Matrix3::Identity()`,
		const rb::math::Vector3	r0 = `rb::math::Vector3::Zero()`
	)

Constructor with certain link data.

Parameters

a0	Length of the link (mm)
alpha0	Twist angle of the link (degree)
d0	Joint offset of the link (mm)
theta0	Joint angle of the link (degree)
up_lim0	Upper limit of the link
low_lim0	Lower limit of the link
offset0	Joint coordinate offset
type0	Joint type of the link
mass0	The mass of the link
I0	The Inertia Matrix of the link
r0	The vector of the link Center of Gravity w.r.t link coordinate frame

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Member Function Documentation

rb::math::Matrix4 rb::kin::Link::computeTransform	(	const double &	q,
		const bool &	update = `false`
	)

Compute homogeneous transformation matrix of the link by giving joint value, and return the matrix.

Parameters

q	Given joint value.
update	A boolean to indicate if need to update transformation (tf) of the link.

Returns: Homogeneous transformation matrix of the link by giving joint value.

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Friends And Related Function Documentation

rb::math::Matrix4 operator*	(	Link &	lhs,
		Link &	rhs
	)

friend

Overload multiply operator to concatenate transformation of two links.

Parameters

lhs	A link class at left hand side.
rhs	A link class at right hand side.

Returns: A 4X4 matrix that storage chaining transformation of two links.

rb::math::Matrix4 operator*	(	rb::math::Matrix4 &	lhs,
		Link &	rhs
	)

friend

Overload multiply operator to concatenate transformation of two links.

Parameters

lhs	A 4x4 matrix at left hand side.
rhs	A link class at right hand side.

Returns: A 4X4 matrix that storage chaining transformation of two links.

rb::math::Matrix4& operator*=	(	rb::math::Matrix4 &	lhs,
		Link &	rhs
	)

friend

Overload multiply operator to concatenate transformation of two links.

Parameters

lhs	A 4x4 matrix at left hand side.
rhs	A link class at right hand side.

Returns: A 4X4 matrix that storage chaining transformation of a 4x4 matrix and a link.

Member Data Documentation

double rb::kin::Link::a

Link length data member of modified D-H parameter for link.

Link length (mm)

double rb::kin::Link::alpha

Link twist data member of modified D-H parameter for link.

Link twist angle (degree)

double rb::kin::Link::d

Link offset data member of modified D-H parameter for link.

Link offset (mm)

rb::math::Matrix3 rb::kin::Link::I

protected

Inertia matrix about link Center of Gravity (CoG).

Joint rb::kin::Link::jt_type

protected

Joint type data member of of the link.

Index to indicate the joint type of this link.

double rb::kin::Link::low_lim

Lower limit data member of modified D-H parameter for link.

Lower limit of joint or link offset.

double rb::kin::Link::mass

protected

Link mass.

double rb::kin::Link::offset

Joint offset data member of modified D-H parameter for link.

Joint (revolute or prismatic) coordinate offset.

rb::math::Vector3 rb::kin::Link::r

protected

Link CoG w.r.t link coordinate frame.

rb::math::Matrix4 rb::kin::Link::tf

Link transformation data member of modified D-H parameter for link.

Homogeneous transformation matrix describe internal link transformation.

double rb::kin::Link::theta

Joint angle data member of modified D-H parameter for link.

Joint angel (degree)

double rb::kin::Link::up_lim

Upper limit data member of modified D-H parameter for link.

Upper limit of joint or link offset.

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

Public Member Functions

Public Attributes

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation