ERC CISST - cisst software

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robLink Class Reference

#include <robLink.h>

Inheritance diagram for robLink:

[legend]Collaboration diagram for robLink:

[legend]List of all members.

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Detailed Description

robLink implements the methods necessary to model a robot link.

The class is derived from robBody to store the dynamics parameters of the body and the link's position and orientation. The link is also derived from robDH to determine the link's position and orientation from joint values

Definition at line 35 of file robLink.h.

Public Types

• enum Errno

Public Member Functions

• robLink ()

  Default constructor.
  

• robLink (const robDH &dh, const robMass &mass)
• robLink::Errno ReadLink (std::istream &is)

  First read the DH parameters and then the body's parameters.
  

• robLink::Errno WriteLink (std::ostream &os) const

  Write the DH and body parameters.
  

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Member Function Documentation

robLink::Errno robLink::ReadLink

(

std::istream &

is

)

First read the DH parameters and then the body's parameters.

At the end of the day, the parameters must be in the following order DH convention (string): modified or standard (1 double): DH parameter (1 double): DH parameter (1 double): DH parameter (1 double): DH parameter joint type (string): revolute/hinge or prismatic/slider joint mode (string): active or passive joint offset position (1 double): value added to each joint value joint minimum position (1 double): lower joint limit joint maximum position (1 double): upper joint limit joint maximum force/torque (1 double): absolute force/torque limit mass (1 double): The mass of the body center of mass (3 double): principal moment of inertia (3 double): body principal axis (9 double):

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

• robLink.h

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