com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics Class Reference

Collaboration diagram for com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics:

Public Member Functions
	DeltaRobotKinematics (DeltaRobotConfig config)
TransformNR	delta_calcForward (double[] input)
double[]	delta_calcInverse (TransformNR input)
double	getE ()
double	getF ()
double	getRe ()
double	getRf ()

Private Member Functions
double	delta_calcAngleYZ (double x0, double y0, double z0)

Private Attributes
double	sqrt3 = Math.sqrt(3.0)
double	pi = Math.PI
double	sin120 = sqrt3/2.0
double	cos120 = -0.5
double	tan60 = sqrt3
double	sin30 = 0.5
double	tan30 = 1/sqrt3

Detailed Description

The Class DeltaRobotKinematics.

Definition at line 10 of file DeltaRobotKinematics.java.

Constructor & Destructor Documentation

DeltaRobotKinematics()

com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.DeltaRobotKinematics

(

DeltaRobotConfig

config

)

All units in milimeters.

Parameters

config

the config

Definition at line 22 of file DeltaRobotKinematics.java.

Member Function Documentation

delta_calcAngleYZ()

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcAngleYZ ( double  x0, double  y0, double  z0  )

private

Delta_calc angle yz.

Parameters

x0	the x0
y0	the y0
z0	the z0

Returns

the double

Definition at line 118 of file DeltaRobotKinematics.java.

References com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getE(), com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getF(), com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getRe(), and com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getRf().

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcInverse().

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delta_calcForward()

TransformNR com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcForward

(

double[]

input

)

Delta_calc forward.

Parameters

input

the input

Returns

the transform nr

Definition at line 57 of file DeltaRobotKinematics.java.

References com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getE(), com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getF(), com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getRe(), com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getRf(), com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.sin30, com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.tan30, and com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.tan60.

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delta_calcInverse()

double [] com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcInverse

(

TransformNR

input

)

Delta_calc inverse.

Parameters

input

the input

Returns

the double[]

Definition at line 145 of file DeltaRobotKinematics.java.

References com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.cos120, com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcAngleYZ(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getX(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getY(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getZ(), and com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.sin120.

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getE()

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getE

(

)

Gets the e.

Returns

the e

Definition at line 165 of file DeltaRobotKinematics.java.

References com.neuronrobotics.replicator.driver.delta.DeltaRobotConfig.getE().

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcAngleYZ(), and com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcForward().

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getF()

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getF

(

)

Gets the f.

Returns

the f

Definition at line 174 of file DeltaRobotKinematics.java.

References com.neuronrobotics.replicator.driver.delta.DeltaRobotConfig.getF().

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcAngleYZ(), and com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcForward().

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getRe()

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getRe

(

)

Gets the re.

Returns

the re

Definition at line 183 of file DeltaRobotKinematics.java.

References com.neuronrobotics.replicator.driver.delta.DeltaRobotConfig.getRe().

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcAngleYZ(), and com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcForward().

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getRf()

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.getRf

(

)

Gets the rf.

Returns

the rf

Definition at line 192 of file DeltaRobotKinematics.java.

References com.neuronrobotics.replicator.driver.delta.DeltaRobotConfig.getRf().

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcAngleYZ(), and com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcForward().

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Member Data Documentation

cos120

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.cos120 = -0.5

private

The cos120.

Definition at line 38 of file DeltaRobotKinematics.java.

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcInverse().

pi

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.pi = Math.PI

private

The pi.

Definition at line 32 of file DeltaRobotKinematics.java.

sin120

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.sin120 = sqrt3/2.0

private

The sin120.

Definition at line 35 of file DeltaRobotKinematics.java.

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcInverse().

sin30

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.sin30 = 0.5

private

The sin30.

Definition at line 44 of file DeltaRobotKinematics.java.

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcForward().

sqrt3

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.sqrt3 = Math.sqrt(3.0)

private

The sqrt3.

Definition at line 29 of file DeltaRobotKinematics.java.

tan30

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.tan30 = 1/sqrt3

private

The tan30.

Definition at line 47 of file DeltaRobotKinematics.java.

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcForward().

tan60

double com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.tan60 = sqrt3

private

The tan60.

Definition at line 41 of file DeltaRobotKinematics.java.

Referenced by com.neuronrobotics.replicator.driver.delta.DeltaRobotKinematics.delta_calcForward().

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

• java-bowler/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotKinematics.java