DH_table_entry Class Reference

DH Table Class. More...

#include <endorob.h>

Public Member Functions
	DH_table_entry (const double &a, const double &alpha, const double &d, const double &theta, const Joint_type &type)
	DH_table_entry (const double &a, const double &a_bis, const double &alpha, const double &d, const double &theta, const Joint_type &type)
void	set_offset (const double &offset)
void	set_joint_limits (const double &min, const double &max)
void	set_flex_resolution (const uint &res)
void	set_flex_gradient (const Vec &vec)
double	a ()
double	alpha ()
double	d ()
double	theta ()
double	a_bis ()
uint	get_flex_resolution ()
Vec	get_flex_gradient ()
Joint_type	get_joint_type ()
double	joint_limit_max ()
double	joint_limit_min ()

Protected Attributes
double	m_a
double	m_a_bis
double	m_alpha
double	m_d
double	m_theta
Joint_type	m_joint_type
double	m_offset
double	m_joint_limit_min
double	m_joint_limit_max
uint	m_flex_resolution
Vec	m_flex_gradient

Detailed Description

DH Table Class.

This class is only used by inheritance by EndoRob, but you can still use it... It is a simple implementation of a DH table entry.

Definition at line 343 of file endorob.h.

Constructor & Destructor Documentation

DH_table_entry() [1/2]

DH_table_entry::DH_table_entry	(	const double &	a,
		const double &	alpha,
		const double &	d,
		const double &	theta,
		const Joint_type &	type
	)

Definition at line 3464 of file endorob.cpp.

DH_table_entry() [2/2]

DH_table_entry::DH_table_entry	(	const double &	a,
		const double &	a_bis,
		const double &	alpha,
		const double &	d,
		const double &	theta,
		const Joint_type &	type
	)

Definition at line 3477 of file endorob.cpp.

Member Function Documentation

a()

double DH_table_entry::a

(

)

Definition at line 3512 of file endorob.cpp.

a_bis()

double DH_table_entry::a_bis

(

)

Definition at line 3532 of file endorob.cpp.

alpha()

double DH_table_entry::alpha

(

)

Definition at line 3517 of file endorob.cpp.

d()

double DH_table_entry::d

(

)

Definition at line 3522 of file endorob.cpp.

get_flex_gradient()

Vec DH_table_entry::get_flex_gradient

(

)

Definition at line 3542 of file endorob.cpp.

get_flex_resolution()

uint DH_table_entry::get_flex_resolution

(

)

Definition at line 3537 of file endorob.cpp.

get_joint_type()

Joint_type DH_table_entry::get_joint_type

(

)

Definition at line 3547 of file endorob.cpp.

joint_limit_max()

double DH_table_entry::joint_limit_max

(

)

Definition at line 3552 of file endorob.cpp.

joint_limit_min()

double DH_table_entry::joint_limit_min

(

)

Definition at line 3557 of file endorob.cpp.

set_flex_gradient()

void DH_table_entry::set_flex_gradient

(

const Vec &

vec

)

Definition at line 3507 of file endorob.cpp.

set_flex_resolution()

void DH_table_entry::set_flex_resolution

(

const uint &

res

)

Definition at line 3502 of file endorob.cpp.

set_joint_limits()

void DH_table_entry::set_joint_limits	(	const double &	min,
		const double &	max
	)

Definition at line 3496 of file endorob.cpp.

set_offset()

void DH_table_entry::set_offset

(

const double &

offset

)

Definition at line 3491 of file endorob.cpp.

theta()

double DH_table_entry::theta

(

)

Definition at line 3527 of file endorob.cpp.

Member Data Documentation

m_a

double DH_table_entry::m_a

protected

Definition at line 366 of file endorob.h.

m_a_bis

double DH_table_entry::m_a_bis

protected

Definition at line 366 of file endorob.h.

m_alpha

double DH_table_entry::m_alpha

protected

Definition at line 366 of file endorob.h.

m_d

double DH_table_entry::m_d

protected

Definition at line 366 of file endorob.h.

m_flex_gradient

Vec DH_table_entry::m_flex_gradient

protected

Definition at line 371 of file endorob.h.

m_flex_resolution

uint DH_table_entry::m_flex_resolution

protected

Definition at line 370 of file endorob.h.

m_joint_limit_max

double DH_table_entry::m_joint_limit_max

protected

Definition at line 369 of file endorob.h.

m_joint_limit_min

double DH_table_entry::m_joint_limit_min

protected

Definition at line 369 of file endorob.h.

m_joint_type

Joint_type DH_table_entry::m_joint_type

protected

Definition at line 367 of file endorob.h.

m_offset

double DH_table_entry::m_offset

protected

Definition at line 368 of file endorob.h.

m_theta

double DH_table_entry::m_theta

protected

Definition at line 366 of file endorob.h.

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

• endorob/endorob.h
• endorob/endorob.cpp