ERC CISST - cisst software

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robDH Class Reference

#include <robDH.h>

Inheritance diagram for robDH:

[legend]Collaboration diagram for robDH:

[legend]List of all members.

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Detailed Description

The DH class is used for kinematics parameters.

It is derived from a joint class to provide joint types and joint limits.

Definition at line 35 of file robDH.h.

Public Types

• enum Convention

  For a kinematic chain, the standard DH defines the coordinate frame of a link at its distal joint whereas the modified DH defines the coordinate frame atits proximal joint. More...
  

• enum Errno

Public Member Functions

• robDH ()

  Default constructor.
  

• robDH (robDH::Convention convention, double alpha, double a, double theta, double d, const robJoint &joint)
• ~robDH ()

  Default destructor.
  

• robDH::Convention GetConvention () const

  Returns:

  The DH convention: robDHStandard or robDHModified

  
  

• vctFixedSizeVector< double, 3 > PStar () const

  This method returns the $XYZ$ coordinates of the origin of the distal link in the coordinate frame of the proximal link.
  

• vctFrame4x4< double > ForwardKinematics (double) const

  Returns the position and orientation of the link with respect to the proximal link for a given joint vale.
  

• vctMatrixRotation3< double > Orientation (double) const

  Returns the orientation of the link with respect to the proximal link for a given joint vale.
  

• robDH::Errno ReadDH (std::istream &is)

  Read the parameters from an input stream.
  

• robDH::Errno WriteDH (std::ostream &os) const

  Write the parameters to an output stream.
  

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Member Enumeration Documentation

enum robDH::Convention

For a kinematic chain, the standard DH defines the coordinate frame of a link at its distal joint whereas the modified DH defines the coordinate frame atits proximal joint.

Modified DH have the advantage of being able to represent open-loop, closed-loop and tree structure robots (Khalil ICRA'86).

Definition at line 45 of file robDH.h.

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Member Function Documentation

vctFixedSizeVector<double,3> robDH::PStar

(

)

const

This method returns the $XYZ$ coordinates of the origin of the distal link in the coordinate frame of the proximal link.

"PStar" is not a good name for this but the literature uses $ {p}^* $ to denote this value.

Returns:

The position of the next coordinate frame wrt to the current frame

vctFrame4x4<double> robDH::ForwardKinematics

(

double

)

const

Returns the position and orientation of the link with respect to the proximal link for a given joint vale.

Parameters:

joint

The joint associated with the link

Returns:

The position and orientation associated with the DH parameters

vctMatrixRotation3<double> robDH::Orientation

(

double

)

const

Returns the orientation of the link with respect to the proximal link for a given joint vale.

Parameters:

joint

The joint associated with the link

Returns:

The orientation associated with the DH parameters

robDH::Errno robDH::ReadDH

(

std::istream &

is

)

Read the parameters from an input stream.

The parameters are in the following order: convention, , a, , d, <joint>

Parameters:

	is	The input stream
	dh	The parameters

Returns:

SUCCESS if no error occurred. ERROR otherwise.

robDH::Errno robDH::WriteDH

(

std::ostream &

os

)

const

Write the parameters to an output stream.

The parameters are in the following order: alpha, a, theta, d

Parameters:

	os	The output stream
	dh	The parameters

Returns:

SUCCESS if no error occurred. ERROR otherwise.

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

• robDH.h

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