rml::RobotLink Class Reference

Basic element of an ArmModel. More...

#include <RobotLink.h>

Public Member Functions
	RobotLink ()
	RobotLink (const JointType type, const Eigen::Vector3d &axis, const Eigen::TransformationMatrix &baseTransf, double jointLimMin, double jointLimMax)
virtual	~RobotLink ()
void	SetKinematicProperties (const JointType type, const Eigen::Vector3d &axis, const Eigen::TransformationMatrix &baseTransf, double jointLimMin, double jointLimMax)
	Sets the kinematic properties of the link.
void	SetDynamicProperties (double mass, const Eigen::Vector3d &sizes, const Eigen::Vector3d &CoM, const Eigen::Matrix3d &Inertia)
	Sets the dynamic properties of the link.
JointType	Type () const
const Eigen::Vector3d &	Axis () const
const Eigen::TransformationMatrix &	BaseTransf () const
double	JointLimitMax () const
double	JointLimitMin () const
double	Mass () const
const Eigen::Vector3d &	Sizes () const
const Eigen::Vector3d &	CoM () const
const Eigen::Matrix3d &	Inertia () const

Detailed Description

Basic element of an ArmModel.

RobotLink collects all the properties for the single links that compose a kinematic chain. It is the input for the ArmModel::AddLink() function. If you use the empty constructor you must then call the function SetKinematicProperties() to get meaningful results since by default everything is set to zero. Otherwise you can use the full constructor where you have to specify all the necessary variables. In both cases you need to provide the following parameters (in this order):

1. The JointType
2. Its rotation/translation axis
3. The transformation matrix from the previous link
4. The minimum value for the joint excursion
5. The maximum value for the joint excursion

If you want to use the RobotModel for dynamic purposes (such as pass it to the NewtonEuler class) you need also to call the function SetDynamicProperties() where you need to provide the link's:

1. Mass
2. The x-y-z sizes
3. The link center of mass
4. The link inertia matrix

Constructor & Destructor Documentation

RobotLink() [1/2]

rml::RobotLink::RobotLink

(

)

RobotLink() [2/2]

rml::RobotLink::RobotLink	(	const JointType	type,
		const Eigen::Vector3d &	axis,
		const Eigen::TransformationMatrix &	baseTransf,
		double	jointLimMin,
		double	jointLimMax
	)

~RobotLink()

virtual rml::RobotLink::~RobotLink ( )

virtual

Member Function Documentation

Axis()

const Eigen::Vector3d & rml::RobotLink::Axis ( ) const

inline

BaseTransf()

const Eigen::TransformationMatrix & rml::RobotLink::BaseTransf ( ) const

inline

CoM()

const Eigen::Vector3d & rml::RobotLink::CoM ( ) const

inline

Inertia()

const Eigen::Matrix3d & rml::RobotLink::Inertia ( ) const

inline

JointLimitMax()

double rml::RobotLink::JointLimitMax ( ) const

inline

JointLimitMin()

double rml::RobotLink::JointLimitMin ( ) const

inline

Mass()

double rml::RobotLink::Mass ( ) const

inline

SetDynamicProperties()

void rml::RobotLink::SetDynamicProperties	(	double	mass,
		const Eigen::Vector3d &	sizes,
		const Eigen::Vector3d &	CoM,
		const Eigen::Matrix3d &	Inertia
	)

Sets the dynamic properties of the link.

Parameters

[in]	mass
[in]	sizes
[in]	CoM
[in]	Inertia

SetKinematicProperties()

void rml::RobotLink::SetKinematicProperties	(	const JointType	type,
		const Eigen::Vector3d &	axis,
		const Eigen::TransformationMatrix &	baseTransf,
		double	jointLimMin,
		double	jointLimMax
	)

Sets the kinematic properties of the link.

Parameters

[in]	type
[in]	axis
[in]	baseTransf
[in]	jointLimMin
[in]	jointLimMax

Sizes()

const Eigen::Vector3d & rml::RobotLink::Sizes ( ) const

inline

Type()

JointType rml::RobotLink::Type ( ) const

inline

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

• RobotLink.h