Package org.robwork.sdurw

Class DHParameterSet

java.lang.Object

org.robwork.sdurw.DHParameterSet

public class DHParameterSet
extends java.lang.Object

Simple class to help represent a set of Denavit-Hartenberg
parameters

Constructor Summary

Constructors

Constructor	Description
DHParameterSet()	Constructor for DHParameters initialized to zero.
DHParameterSet(double alpha, double a, double d, double theta)	Constructor
DHParameterSet(double alpha, double a, double beta, double b, boolean parallel)	Constructor
DHParameterSet(double alpha, double a, double d, double theta, java.lang.String type)	Constructor
DHParameterSet(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
double	a()	a_{i-1} *
double	alpha()	\alpha_{i-1} *
double	b()
double	beta()
double	d()	d_{i} *
void	delete()
static DHParameterSet	get(PropertyMap pmap)
static DHParameterSet	get(Joint joint)
static long	getCPtr(DHParameterSet obj)
static DHParameterSetVector	getDHParameters(SerialDevicePtr device)	Returns the DH-Parameters for a SerialDevice.
java.lang.String	getType()	the DH-convention type
boolean	isParallel()
static void	set(DHParameterSet dhset, PropertyMap pmap)
static void	set(DHParameterSet dhset, Frame joint)
double	theta()	\theta_{i} *

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DHParameterSet

public DHParameterSet(long cPtr,
                      boolean cMemoryOwn)

DHParameterSet

public DHParameterSet()

Constructor for DHParameters initialized to zero.

DHParameterSet

public DHParameterSet(double alpha,
                      double a,
                      double d,
                      double theta)

Constructor

Parameters:

alpha - [in] \alpha_{i-1}

a - [in] a_{i-1}

d - [in] d_{i}

theta - [in] \theta_{i-1}

DHParameterSet

public DHParameterSet(double alpha,
                      double a,
                      double d,
                      double theta,
                      java.lang.String type)

Constructor

Parameters:

alpha - [in] \alpha_{i-1}

a - [in] a_{i-1}

d - [in] d_{i}

theta - [in] \theta_{i-1}

type - documentation missing !

DHParameterSet

public DHParameterSet(double alpha,
                      double a,
                      double beta,
                      double b,
                      boolean parallel)

Constructor

Parameters:

alpha - [in] \alpha_{i-1}

a - [in] a_{i-1}

beta - [in] documentation missing !

b - [in] documentation missing !

parallel - [in] documentation missing !

Method Detail

getCPtr

public static long getCPtr(DHParameterSet obj)

delete

public void delete()

alpha

public double alpha()

\alpha_{i-1} *

a

public double a()

a_{i-1} *

d

public double d()

d_{i} *

theta

public double theta()

\theta_{i} *

b

public double b()

beta

public double beta()

isParallel

public boolean isParallel()

getType

public java.lang.String getType()

the DH-convention type

getDHParameters

public static DHParameterSetVector getDHParameters(SerialDevicePtr device)

Returns the DH-Parameters for a SerialDevice.

If no or only a partial DH representation exists only the list will be empty or non-complete.

Parameters:

device - [in] SerialDevice for which to get the DH parameters

Returns:

The set of DH parameters

get

public static DHParameterSet get(PropertyMap pmap)

get

public static DHParameterSet get(Joint joint)

set

public static void set(DHParameterSet dhset,
                       PropertyMap pmap)

set

public static void set(DHParameterSet dhset,
                       Frame joint)