link.h

Go to the documentation of this file.

 
#ifndef RB_LINK_H_
#define RB_LINK_H_
 
#include "../math/matrix.h"
 
namespace rb 
{
namespace kin 
{
enum Joint
{
  REVOLUTE,       
  PRISMATIC       
};
 
class Link
{
public:
  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()
      );
 
 
  ~Link();                                
 
  friend rb::math::Matrix4 operator* (Link& lhs, Link& rhs);
 
  friend rb::math::Matrix4 operator* (rb::math::Matrix4& lhs, Link& rhs);
 
  friend rb::math::Matrix4& operator*= (rb::math::Matrix4& lhs, Link& rhs);
 
  rb::math::Matrix4 computeTransform(const double& q, const bool& update=false);
 
  double a;                   
  double alpha;               
  double d;                   
  double theta;               
  double up_lim;               
  double low_lim;              
  double offset;              
 
  rb::math::Matrix4 tf;       
 
protected:
  Joint jt_type;              
 
  double mass;                
  rb::math::Matrix3 I;        
  rb::math::Vector3 r;        
 
private:
 
};
 
}       // namespace kin
}       // namespace rb
 
#endif  // RB_LINK_H_