ROBOOP::Link Class Reference

#include <robot.h>

Detailed Description

Link definitions.

A n degree of freedom (dof) serial manipulator is composed of n links. This class describe the property of a link. A n dof robot has n instance of the class Link.

Definition at line 136 of file robot.h.

Public Member Functions

Link (const int jt=0, const Real it=0.0, const Real id=0.0, const Real ia=0.0, const Real ial=0.0, const Real theta_min=-M_PI/2, const Real theta_max=M_PI/2, const Real it_off=0.0, const Real mass=1.0, const Real cmx=0.0, const Real cmy=0.0, const Real cmz=0.0, const Real ixx=0.0, const Real ixy=0.0, const Real ixz=0.0, const Real iyy=0.0, const Real iyz=0.0, const Real izz=0.0, const Real iIm=0.0, const Real iGr=0.0, const Real iB=0.0, const Real iCf=0.0, const bool dh=true, const bool min_inertial_para=false)

Constructor.

Link (const Link &x)

Copy constructor.

~Link ()

Destructor.

Link & operator= (const Link &x)

Overload = operator.

void transform (const Real q)

Set the rotation matrix R and the vector p.

bool get_DH (void) const

Return DH value.

int get_joint_type (void) const

Return the joint type.

Real get_theta (void) const

Return theta.

Real get_d (void) const

Return d.

Real get_a (void) const

Return a.

Real get_alpha (void) const

Return alpha.

Real get_q (void) const

Return joint position (theta if joint type is rotoide, d otherwise).

Real get_theta_min (void) const

Return theta_min.

Real get_theta_max (void) const

Return theta_max.

Real get_joint_offset (void) const

Return joint_offset.

ReturnMatrix get_mc (void)

Return mc.

ReturnMatrix get_r (void)

Return r.

ReturnMatrix get_p (void) const

Return p.

Real get_m (void) const

Return m.

Real get_Im (void) const

Return Im.

Real get_Gr (void) const

Return Gr.

Real get_B (void) const

Return B.

Real get_Cf (void) const

Return Cf.

ReturnMatrix get_I (void) const

Return I.

bool get_immobile (void) const

Return immobile.

void set_m (const Real m_)

Set m.

void set_mc (const ColumnVector &mc_)

Set the mass $\times$ center of gravity position.

void set_r (const ColumnVector &r_)

Set the center of gravity position.

void set_Im (const Real Im_)

Set Im.

void set_B (const Real B_)

Set B.

void set_Cf (const Real Cf_)

Set Cf.

void set_I (const Matrix &I)

Set the inertia matrix.

void set_immobile (bool im)

Set immobile.

Public Attributes

Matrix R

Orientation matrix of actual link w.r.t to previous link.

Real qp

Joint velocity.

Real qpp

Joint acceleration.

Private Attributes

int joint_type

Joint type.

Real theta

theta DH parameter.

Real d

d DH parameter.

Real a

a DH parameter.

Real alpha

alpha DH parameter.

Real theta_min

Min joint angle.

Real theta_max

Max joint angle.

Real joint_offset

Offset in joint angle (rotoide and prismatic).

bool DH

DH notation(true) or DH modified notation.

bool min_para

Minimum inertial parameter.

ColumnVector r

Position of center of mass w.r.t. link coordinate system (min_para=F).

ColumnVector p

Position vector of actual link w.r.t to previous link.

Real m

Mass of the link.

Real Im

Motor Inertia.

Real Gr

Gear Ratio.

Real B

Viscous coefficient.

Real Cf

Coulomb fiction coefficient.

ColumnVector mc

Mass $\times$ center of gravity (used if min_para = true).

Matrix I

Inertia matrix w.r.t. center of mass and link coordinate system orientation.

bool immobile

true if the joint is to be considered locked - ignored for inverse kinematics, but can still be reassigned through transform

Friends

class Robot_basic

class Robot

class mRobot

class mRobot_min_para

Constructor & Destructor Documentation

ROBOOP::Link::Link	(	const int	jt = `0`,
		const Real	it = `0.0`,
		const Real	id = `0.0`,
		const Real	ia = `0.0`,
		const Real	ial = `0.0`,
		const Real	theta_min = `-M_PI/2`,
		const Real	theta_max = `M_PI/2`,
		const Real	it_off = `0.0`,
		const Real	mass = `1.0`,
		const Real	cmx = `0.0`,
		const Real	cmy = `0.0`,
		const Real	cmz = `0.0`,
		const Real	ixx = `0.0`,
		const Real	ixy = `0.0`,
		const Real	ixz = `0.0`,
		const Real	iyy = `0.0`,
		const Real	iyz = `0.0`,
		const Real	izz = `0.0`,
		const Real	iIm = `0.0`,
		const Real	iGr = `0.0`,
		const Real	iB = `0.0`,
		const Real	iCf = `0.0`,
		const bool	dh = `true`,
		const bool	min_inertial_para = `false`
	)

Constructor.

Definition at line 128 of file robot.cpp.

ROBOOP::Link::Link ( const Link & x )

Copy constructor.

Definition at line 226 of file robot.cpp.

ROBOOP::Link::~Link ( ) [inline]

Destructor.

Definition at line 153 of file robot.h.

Member Function Documentation

Real ROBOOP::Link::get_a ( void ) const [inline]

Return a.

Definition at line 160 of file robot.h.

Referenced by ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), and ROBOOP::Rhino_mDH().

Real ROBOOP::Link::get_alpha ( void ) const [inline]

Return alpha.

Definition at line 161 of file robot.h.

Referenced by ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), ROBOOP::ERS_Leg_DH(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), and ROBOOP::Rhino_mDH().

Real ROBOOP::Link::get_B ( void ) const [inline]

Return B.

Definition at line 172 of file robot.h.

Referenced by ROBOOP::perturb_robot().

Real ROBOOP::Link::get_Cf ( void ) const [inline]

Return Cf.

Definition at line 173 of file robot.h.

Referenced by ROBOOP::perturb_robot().

Real ROBOOP::Link::get_d ( void ) const [inline]

Return d.

Definition at line 159 of file robot.h.

Referenced by ROBOOP::Robot_basic::convertFrameToLink(), ROBOOP::Robot_basic::convertLink(), ROBOOP::Robot_basic::convertLinkToFrame(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), and ROBOOP::Rhino_mDH().

bool ROBOOP::Link::get_DH ( void ) const [inline]

Return DH value.

Definition at line 156 of file robot.h.

Real ROBOOP::Link::get_Gr ( void ) const [inline]

Return Gr.

Definition at line 171 of file robot.h.

ReturnMatrix ROBOOP::Link::get_I ( void ) const [inline]

Return I.

Definition at line 174 of file robot.h.

Referenced by ROBOOP::perturb_robot().

Real ROBOOP::Link::get_Im ( void ) const [inline]

Return Im.

Definition at line 170 of file robot.h.

Referenced by ROBOOP::perturb_robot().

bool ROBOOP::Link::get_immobile ( void ) const [inline]

Return immobile.

Definition at line 175 of file robot.h.

Real ROBOOP::Link::get_joint_offset ( void ) const [inline]

Return joint_offset.

Definition at line 165 of file robot.h.

Referenced by ROBOOP::Robot_basic::convertFrameToLink(), ROBOOP::Robot_basic::convertLink(), and ROBOOP::Robot_basic::convertLinkToFrame().

int ROBOOP::Link::get_joint_type ( void ) const [inline]

Return the joint type.

Definition at line 157 of file robot.h.

Referenced by ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), ROBOOP::ERS_Leg_DH(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), and ROBOOP::Rhino_mDH().

Real ROBOOP::Link::get_m ( void ) const [inline]

Return m.

Definition at line 169 of file robot.h.

Referenced by ROBOOP::perturb_robot().

ReturnMatrix ROBOOP::Link::get_mc ( void ) [inline]

Return mc.

Definition at line 166 of file robot.h.

ReturnMatrix ROBOOP::Link::get_p ( void ) const [inline]

Return p.

Definition at line 168 of file robot.h.

Real ROBOOP::Link::get_q ( void ) const

Return joint position (theta if joint type is rotoide, d otherwise).

The joint offset is removed from the value.

Definition at line 345 of file robot.cpp.

Referenced by ROBOOP::Robot::computeFirstERSLink(), ROBOOP::Robot::computeSecondERSLink(), ROBOOP::Robot::computeThirdERSLink(), and ROBOOP::Robot_basic::get_q().

ReturnMatrix ROBOOP::Link::get_r ( void ) [inline]

Return r.

Definition at line 167 of file robot.h.

Real ROBOOP::Link::get_theta ( void ) const [inline]

Return theta.

Definition at line 158 of file robot.h.

Referenced by ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), and ROBOOP::ERS_Leg_DH().

Real ROBOOP::Link::get_theta_max ( void ) const [inline]

Return theta_max.

Definition at line 164 of file robot.h.

Real ROBOOP::Link::get_theta_min ( void ) const [inline]

Return theta_min.

Definition at line 163 of file robot.h.

Link & ROBOOP::Link::operator= ( const Link & x )

Overload = operator.

Definition at line 255 of file robot.cpp.

void ROBOOP::Link::set_B ( const Real B_ ) [inline]

Set B.

Definition at line 180 of file robot.h.

Referenced by ROBOOP::perturb_robot().

void ROBOOP::Link::set_Cf ( const Real Cf_ ) [inline]

Set Cf.

Definition at line 181 of file robot.h.

Referenced by ROBOOP::perturb_robot().

void ROBOOP::Link::set_I ( const Matrix & I )

Set the inertia matrix.

Definition at line 381 of file robot.cpp.

Referenced by ROBOOP::perturb_robot().

void ROBOOP::Link::set_Im ( const Real Im_ ) [inline]

Set Im.

Definition at line 179 of file robot.h.

Referenced by ROBOOP::perturb_robot().

void ROBOOP::Link::set_immobile ( bool im ) [inline]

Set immobile.

Definition at line 183 of file robot.h.

Referenced by ROBOOP::Robot_basic::Robot_basic().

void ROBOOP::Link::set_m ( const Real m_ ) [inline]

Set m.

Definition at line 176 of file robot.h.

Referenced by ROBOOP::perturb_robot().

void ROBOOP::Link::set_mc ( const ColumnVector & mc_ )

Set the mass $\times$ center of gravity position.

Definition at line 368 of file robot.cpp.

void ROBOOP::Link::set_r ( const ColumnVector & r_ )

Set the center of gravity position.

Definition at line 359 of file robot.cpp.

void ROBOOP::Link::transform ( const Real q )

Set the rotation matrix R and the vector p.

Definition at line 284 of file robot.cpp.

Referenced by ROBOOP::Robot_basic::set_q().

Friends And Related Function Documentation

friend class mRobot [friend]

Definition at line 140 of file robot.h.

friend class mRobot_min_para [friend]

Definition at line 141 of file robot.h.

friend class Robot [friend]

Definition at line 139 of file robot.h.

friend class Robot_basic [friend]

Definition at line 138 of file robot.h.

Member Data Documentation

Real ROBOOP::Link::a [private]

a DH parameter.

Definition at line 191 of file robot.h.

Referenced by get_a(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), ROBOOP::Robot::inv_kin_rhino(), Link(), operator=(), and transform().

Real ROBOOP::Link::alpha [private]

alpha DH parameter.

Definition at line 191 of file robot.h.

Referenced by get_alpha(), Link(), and operator=().

Real ROBOOP::Link::B [private]

Viscous coefficient.

Definition at line 202 of file robot.h.

Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), get_B(), operator=(), set_B(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), and ROBOOP::Robot::torque().

Real ROBOOP::Link::Cf [private]

Coulomb fiction coefficient.

Definition at line 202 of file robot.h.

Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), get_Cf(), operator=(), set_Cf(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), and ROBOOP::Robot::torque().

Real ROBOOP::Link::d [private]

d DH parameter.

Definition at line 191 of file robot.h.

Referenced by get_d(), get_q(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), ROBOOP::Robot::inv_kin_rhino(), Link(), operator=(), and transform().

bool ROBOOP::Link::DH [private]

DH notation(true) or DH modified notation.

Definition at line 198 of file robot.h.

Referenced by ROBOOP::Robot_basic::get_DH(), get_DH(), Link(), operator=(), and transform().

Real ROBOOP::Link::Gr [private]

Gear Ratio.

Definition at line 202 of file robot.h.

Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), get_Gr(), operator=(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity().

Matrix ROBOOP::Link::I [private]

Inertia matrix w.r.t. center of mass and link coordinate system orientation.

Definition at line 208 of file robot.h.

Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), get_I(), Link(), operator=(), set_I(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity().

Real ROBOOP::Link::Im [private]

Motor Inertia.

Definition at line 202 of file robot.h.

Referenced by get_Im(), operator=(), set_Im(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity().

bool ROBOOP::Link::immobile [private]

true if the joint is to be considered locked - ignored for inverse kinematics, but can still be reassigned through transform

Definition at line 209 of file robot.h.

Referenced by get_immobile(), operator=(), and set_immobile().

Real ROBOOP::Link::joint_offset [private]

Offset in joint angle (rotoide and prismatic).

Definition at line 191 of file robot.h.

Referenced by get_joint_offset(), get_q(), Link(), operator=(), and transform().

int ROBOOP::Link::joint_type [private]

Joint type.

Definition at line 190 of file robot.h.

Referenced by get_joint_type(), get_q(), Link(), operator=(), and transform().

Real ROBOOP::Link::m [private]

Mass of the link.

Definition at line 202 of file robot.h.

Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), get_m(), operator=(), and set_m().

ColumnVector ROBOOP::Link::mc [private]

Mass $\times$ center of gravity (used if min_para = true).

Definition at line 207 of file robot.h.

Referenced by get_mc(), Link(), operator=(), and set_mc().

bool ROBOOP::Link::min_para [private]

Minimum inertial parameter.

Definition at line 198 of file robot.h.

Referenced by Link(), and operator=().

ColumnVector ROBOOP::Link::p [private]

Position vector of actual link w.r.t to previous link.

Definition at line 200 of file robot.h.

Referenced by ROBOOP::Robot_basic::convertFrame(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::mRobot_min_para::dTdqi(), ROBOOP::mRobot::dTdqi(), ROBOOP::Robot::dTdqi(), get_p(), Link(), operator=(), ROBOOP::Robot_basic::set_q(), and transform().

Real ROBOOP::Link::qp

Joint velocity.

Definition at line 186 of file robot.h.

Referenced by Link(), and operator=().

Real ROBOOP::Link::qpp

Joint acceleration.

Definition at line 186 of file robot.h.

Referenced by Link(), and operator=().

ColumnVector ROBOOP::Link::r [private]

Position of center of mass w.r.t. link coordinate system (min_para=F).

Definition at line 200 of file robot.h.

Referenced by get_r(), Link(), operator=(), and set_r().

Matrix ROBOOP::Link::R

Orientation matrix of actual link w.r.t to previous link.

Definition at line 185 of file robot.h.

Real ROBOOP::Link::theta [private]

theta DH parameter.

Definition at line 191 of file robot.h.

Referenced by get_q(), get_theta(), Link(), operator=(), and transform().

Real ROBOOP::Link::theta_max [private]

Max joint angle.

Definition at line 191 of file robot.h.

Referenced by get_theta_max(), and operator=().

Real ROBOOP::Link::theta_min [private]

Min joint angle.

Definition at line 191 of file robot.h.

Referenced by get_theta_min(), and operator=().

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

ROBOOP v1.21a

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