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robot::SerialManipulator::JointParameters Class Reference

Parameters for a single joint. More...

Inherits base::Serializable.

Inheritance diagram for robot::SerialManipulator::JointParameters:

[legend]Collaboration diagram for robot::SerialManipulator::JointParameters:

[legend]List of all members.

Public Types
enum	JointType { Prismatic, Revolute }
Public Methods
	JointParameters ()
	JointParameters (JointType type, Real alpha, Real a, Real d, Real theta, Real minLimit, Real MaxLimit, Real minAccel=0, Real maxAccel=0, bool active=true)
	~JointParameters ()
virtual String	className () const
bool	operator== (const JointParameters &p)
bool	operator!= (const JointParameters &p)
virtual void	serialize (base::Serializer &s)
	read or write object state to Serializer. More...
virtual bool	isSameKindAs (const Object &) const
Static Public Methods
template<class BaseClass, class DerivedClass> void	registerSerializableInstantiator (const SerializableInstantiator &instantiator)
void	registerSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName, const SerializableInstantiator &instantiator)
template<class BaseClass> const SerializableInstantiator &	getSerializableInstantiator (const String &derivedClassTypeName)
const SerializableInstantiator &	getSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName)
Public Attributes
JointType	type
Real	alpha
	twist angle (const) (radians). More...
Real	a
	link length (const). More...
Real	d
	distance between links (home pos). More...
Real	theta
	angle between links (home pos) (radians). More...
Real	minLimit
Real	maxLimit
	joint limits. More...
Real	minAccel
Real	maxAccel
	joint acceleration limits. More...
bool	active

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Detailed Description

Parameters for a single joint.

Definition at line 49 of file SerialManipulator.

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Member Enumeration Documentation

enum robot::SerialManipulator::JointParameters::JointType

Enumeration values: Prismatic  Revolute  Definition at line 52 of file SerialManipulator. Referenced by JointParameters.

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Constructor & Destructor Documentation

robot::SerialManipulator::JointParameters::JointParameters (    )  [inline]

Definition at line 54 of file SerialManipulator. Referenced by operator!=, and operator==.

robot::SerialManipulator::JointParameters::JointParameters (  JointType    type, Real    alpha, Real    a, Real    d, Real    theta, Real    minLimit, Real    MaxLimit, Real    minAccel = 0, Real    maxAccel = 0, bool    active = true )  [inline]

Definition at line 55 of file SerialManipulator. References a, active, alpha, d, JointType, maxAccel, maxLimit, minAccel, minLimit, base::Real, theta, and type.

robot::SerialManipulator::JointParameters::~JointParameters (    )  [inline]

Definition at line 62 of file SerialManipulator.

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Member Function Documentation

virtual String robot::SerialManipulator::JointParameters::className (    )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Definition at line 64 of file SerialManipulator. References base::String.

const Serializable::SerializableInstantiator & Serializable::getSerializableInstantiator (  const String &    baseClassTypeName, const String &    derivedClassTypeName )  [static, inherited]

Definition at line 52 of file Serializable.cpp. References Exception, and base::String.

template<class BaseClass> const SerializableInstantiator& base::Serializable::getSerializableInstantiator (  const String &    derivedClassTypeName )  [inline, static, inherited]

Definition at line 71 of file Serializable. References base::String.

virtual bool base::Object::isSameKindAs (  const Object &    )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

bool robot::SerialManipulator::JointParameters::operator!= (  const JointParameters &    p )  [inline]

Definition at line 87 of file SerialManipulator. References JointParameters.

bool robot::SerialManipulator::JointParameters::operator== (  const JointParameters &    p )  [inline]

Definition at line 80 of file SerialManipulator. References a, active, alpha, d, JointParameters, theta, and type.

void Serializable::registerSerializableInstantiator (  const String &    baseClassTypeName, const String &    derivedClassTypeName, const SerializableInstantiator &    instantiator )  [static, inherited]

Definition at line 33 of file Serializable.cpp. References Exception, and base::String.

template<class BaseClass, class DerivedClass> void base::Serializable::registerSerializableInstantiator (  const SerializableInstantiator &    instantiator )  [inline, static, inherited]

Definition at line 62 of file Serializable.

virtual void robot::SerialManipulator::JointParameters::serialize (  base::Serializer &    s )  [inline, virtual]

read or write object state to Serializer. Implements base::Serializable. Definition at line 89 of file SerialManipulator. References a, active, alpha, d, maxAccel, maxLimit, minAccel, minLimit, theta, and type.

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Member Data Documentation

Real robot::SerialManipulator::JointParameters::a

link length (const). Definition at line 71 of file SerialManipulator. Referenced by JointParameters, operator==, and serialize.

bool robot::SerialManipulator::JointParameters::active

Definition at line 78 of file SerialManipulator. Referenced by JointParameters, operator==, and serialize.

Real robot::SerialManipulator::JointParameters::alpha

twist angle (const) (radians). Definition at line 70 of file SerialManipulator. Referenced by JointParameters, operator==, and serialize.

Real robot::SerialManipulator::JointParameters::d

distance between links (home pos). Definition at line 72 of file SerialManipulator. Referenced by JointParameters, operator==, and serialize.

Real robot::SerialManipulator::JointParameters::maxAccel

joint acceleration limits. Definition at line 76 of file SerialManipulator. Referenced by JointParameters, and serialize.

Real robot::SerialManipulator::JointParameters::maxLimit

joint limits. Definition at line 75 of file SerialManipulator. Referenced by JointParameters, and serialize.

Real robot::SerialManipulator::JointParameters::minAccel

Definition at line 76 of file SerialManipulator. Referenced by JointParameters, and serialize.

Real robot::SerialManipulator::JointParameters::minLimit

Definition at line 75 of file SerialManipulator. Referenced by JointParameters, and serialize.

Real robot::SerialManipulator::JointParameters::theta

angle between links (home pos) (radians). Definition at line 73 of file SerialManipulator. Referenced by JointParameters, operator==, and serialize.

JointType robot::SerialManipulator::JointParameters::type

Definition at line 67 of file SerialManipulator. Referenced by JointParameters, operator==, and serialize.

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

• robot/SerialManipulator

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