Collaboration diagram for com.neuronrobotics.sdk.addons.kinematics.DHLink:

[legend]

Public Member Functions
	DHLink (double d, double theta, double r, double alpha)

	DHLink (Element nNode, LinkConfiguration newLinkConf)

	DHLink (DHLink dhl)

void	fireOnLinkGlobalPositionChange (TransformNR newPose)

void	addDhLinkPositionListener (IDhLinkPositionListener l)

void	removeDhLinkPositionListener (IDhLinkPositionListener l)

String	getXml ()

double	getD ()

double	getTheta ()

double	getR ()

double	getAlpha ()

Matrix	DhStepInverse (Matrix end, double jointValue)

Matrix	DhStep (double jointValue)

Matrix	DhStep (double rotory, double prismatic)

Matrix	DhStepInverse (Matrix end, double rotory, double prismatic)

Matrix	DhStepInverse (double rotory, double prismatic)

Matrix	DhStepInversePrismatic (double prismatic)

Matrix	DhStepInverseRotory (double rotory)

void	setTransX (Matrix transX)

void	setRotX (Matrix rotX)

Matrix	getTransX ()

Matrix	getRotX ()

Matrix	getTransZ ()

Matrix	getRotZ ()

Matrix	DhStepJacobian (double rotoryVelocity, double prismaticVelocity)

Matrix	getRotX_J ()

Matrix	getTransX_J ()

Matrix	getTransZ_J ()

Matrix	getRotZ_J ()

String	toString ()

Object	getListener ()

void	setListener (Object listener)

Object	getRootListener ()

double	getDelta ()

void	setDelta (double d)

double	getRadius ()

void	setRadius (double radius)

void	setTheta (double theta)

void	setAlpha (double alpha)

DhLinkType	getLinkType ()

void	setLinkType (DhLinkType type)

void	setMobileBaseXml (MobileBase embedableXml)

MobileBase	getSlaveMobileBase ()

void	setSlaveMobileBase (MobileBase embedableXml)

Private Member Functions
void	setMatrix (double rotory, double prismatic)

void	setJacobianMatrix (double rotory, double prismatic)

Private Attributes
double	d

double	theta

double	radius

double	alpha

Matrix	transX

Matrix	rotX

Matrix	transZ

Matrix	rotZ

Matrix	transX_J

Matrix	rotX_J

Matrix	transZ_J

Matrix	rotZ_J

Object	listener =null

Object	root =null

DhLinkType	type = DhLinkType.ROTORY

ArrayList< IDhLinkPositionListener >	dhlisteners = new ArrayList<IDhLinkPositionListener>()

MobileBase	slaveMobileBase =null

LinkConfiguration	newLinkConf

Detailed Description

The Class DHLink.

Definition at line 17 of file DHLink.java.

Constructor & Destructor Documentation

◆ DHLink() [1/3]

com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink	(	double	d,
		double	theta,
		double	r,
		double	alpha
	)

Instantiates a new DH link.

Parameters

d	the d
theta	the theta
r	the r
alpha	the alpha

Definition at line 81 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.setAlpha(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setDelta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setRadius(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setTheta().

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◆ DHLink() [2/3]

com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink	(	Element	nNode,
		LinkConfiguration	newLinkConf
	)

Instantiates a new DH link.

Parameters

nNode	the n node
newLinkConf

Definition at line 95 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory.getTagValueDouble(), com.neuronrobotics.sdk.addons.kinematics.DHLink.newLinkConf, com.neuronrobotics.sdk.addons.kinematics.DHLink.setAlpha(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setDelta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setRadius(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setTheta().

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◆ DHLink() [3/3]

com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink ( DHLink dhl )

Definition at line 104 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getAlpha(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getDelta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getRadius(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getTheta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setAlpha(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setDelta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setRadius(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setTheta().

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Member Function Documentation

◆ addDhLinkPositionListener()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.addDhLinkPositionListener ( IDhLinkPositionListener l )

Adds the dh link position listener.

Parameters

l the l

Definition at line 129 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.dhlisteners.

◆ DhStep() [1/2]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStep ( double jointValue )

Dh step prismatic.

Parameters

jointValue the joint value

Returns: the matrix

Definition at line 227 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.type.

◆ DhStep() [2/2]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStep	(	double	rotory,
		double	prismatic
	)

Dh step.

Parameters

rotory	the rotory
prismatic	the prismatic

Returns: the matrix

Definition at line 247 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotX(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotZ(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransX(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransZ(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setMatrix().

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◆ DhStepInverse() [1/3]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse	(	double	rotory,
		double	prismatic
	)

Dh step inverse.

Parameters

rotory	the rotory
prismatic	the prismatic

Returns: the matrix

Definition at line 286 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse(), and com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getMatrixTransform().

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◆ DhStepInverse() [2/3]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse	(	Matrix	end,
		double	jointValue
	)

Dh step inverse .

Parameters

end	the end
jointValue	the joint value

Returns: the matrix

Definition at line 208 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.type.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse(), com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInversePrismatic(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverseRotory().

◆ DhStepInverse() [3/3]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse	(	Matrix	end,
		double	rotory,
		double	prismatic
	)

Dh step inverse.

Parameters

end	the end
rotory	the rotory
prismatic	the prismatic

Returns: the matrix

Definition at line 268 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotX(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotZ(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransX(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransZ(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setMatrix().

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◆ DhStepInversePrismatic()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInversePrismatic ( double prismatic )

Dh step inverse.

Parameters

prismatic the prismatic

Returns: the matrix

Definition at line 300 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse().

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

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◆ DhStepInverseRotory()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverseRotory ( double rotory )

Dh step inverse.

Parameters

rotory the rotory

Returns: the matrix

Definition at line 312 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse().

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

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◆ DhStepJacobian()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepJacobian	(	double	rotoryVelocity,
		double	prismaticVelocity
	)

Gets a jacobian matrix of this link.

Parameters

rotoryVelocity	the rotory velocity
prismaticVelocity	the prismatic velocity

Returns: the Jacobian

Definition at line 413 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotX_J(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotZ_J(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransX_J(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransZ_J(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setJacobianMatrix().

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◆ fireOnLinkGlobalPositionChange()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.fireOnLinkGlobalPositionChange ( TransformNR newPose )

Fire on link global position change.

Parameters

newPose the new pose

Definition at line 116 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.dhlisteners, com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setGlobalToFiducialTransform(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.slaveMobileBase.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.onJointSpaceUpdate().

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◆ getAlpha()

double com.neuronrobotics.sdk.addons.kinematics.DHLink.getAlpha ( )

Gets the alpha.

Returns: the alpha

Definition at line 196 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.alpha.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotX(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotX_J(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.toString().

◆ getD()

double com.neuronrobotics.sdk.addons.kinematics.DHLink.getD ( )

Gets the d.

Returns: the d

Definition at line 169 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getDelta().

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.setJacobianMatrix(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setMatrix().

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◆ getDelta()

double com.neuronrobotics.sdk.addons.kinematics.DHLink.getDelta ( )

Gets the delta.

Returns: the delta

Definition at line 551 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.d.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getD(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.toString().

◆ getLinkType()

DhLinkType com.neuronrobotics.sdk.addons.kinematics.DHLink.getLinkType ( )

Checks if is degenerate.

Returns: true, if is degenerate

Definition at line 613 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.type.

◆ getListener()

Object com.neuronrobotics.sdk.addons.kinematics.DHLink.getListener ( )

Gets the listener.

Returns: the listener

Definition at line 515 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.listener.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateLimb().

◆ getR()

double com.neuronrobotics.sdk.addons.kinematics.DHLink.getR ( )

Gets the r.

Returns: the r

Definition at line 187 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getRadius().

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransX(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransX_J().

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◆ getRadius()

double com.neuronrobotics.sdk.addons.kinematics.DHLink.getRadius ( )

Gets the radius.

Returns: the radius

Definition at line 570 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.radius.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getR(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.toString().

◆ getRootListener()

Object com.neuronrobotics.sdk.addons.kinematics.DHLink.getRootListener ( )

Gets the root listener.

Returns: the root listener

Definition at line 533 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.root.

◆ getRotX()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotX ( )

Gets the rot x.

Returns: the rot x

Definition at line 377 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getAlpha(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.rotX.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStep(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse().

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◆ getRotX_J()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotX_J ( )

Gets the rot x_ j.

Returns: the rot x_ j

Definition at line 450 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getAlpha(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.rotX_J.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepJacobian().

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◆ getRotZ()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotZ ( )

Gets the rot z.

Returns: the rot z

Definition at line 402 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.rotZ.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStep(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse().

◆ getRotZ_J()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotZ_J ( )

Gets the rot z_ j.

Returns: the rot z_ j

Definition at line 493 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.rotZ_J.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepJacobian().

◆ getSlaveMobileBase()

MobileBase com.neuronrobotics.sdk.addons.kinematics.DHLink.getSlaveMobileBase ( )

Definition at line 635 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.slaveMobileBase.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.addListeners(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.generateCad(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getSlaveMobileBase(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.getXml().

◆ getTheta()

double com.neuronrobotics.sdk.addons.kinematics.DHLink.getTheta ( )

Gets the theta.

Returns: the theta

Definition at line 178 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.theta.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setJacobianMatrix(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setMatrix(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.toString().

◆ getTransX()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransX ( )

Gets the trans x.

Returns: the trans x

Definition at line 361 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getR(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.transX.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStep(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse().

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◆ getTransX_J()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransX_J ( )

Gets the trans x_ j.

Returns: the trans x_ j

Definition at line 466 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getR(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.transX_J.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepJacobian().

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◆ getTransZ()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransZ ( )

Gets the trans z.

Returns: the trans z

Definition at line 393 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.transZ.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStep(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse().

◆ getTransZ_J()

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransZ_J ( )

Gets the trans z_ j.

Returns: the trans z_ j

Definition at line 484 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.transZ_J.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepJacobian().

◆ getXml()

String com.neuronrobotics.sdk.addons.kinematics.DHLink.getXml ( )

Gets the xml.

Returns: the xml

Definition at line 153 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.alpha, com.neuronrobotics.sdk.addons.kinematics.DHLink.d, com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getSlaveMobileBase(), com.neuronrobotics.sdk.addons.kinematics.DHLink.radius, and com.neuronrobotics.sdk.addons.kinematics.DHLink.theta.

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◆ removeDhLinkPositionListener()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.removeDhLinkPositionListener ( IDhLinkPositionListener l )

Removes the dh link position listener.

Parameters

l the l

Definition at line 139 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.dhlisteners.

◆ setAlpha()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setAlpha ( double alpha )

Sets the alpha.

Parameters

alpha the new alpha

Definition at line 601 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.alpha, com.neuronrobotics.sdk.addons.kinematics.DHLink.newLinkConf, com.neuronrobotics.sdk.addons.kinematics.DHLink.rotX, and com.neuronrobotics.sdk.addons.kinematics.DHLink.rotX_J.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink().

◆ setDelta()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setDelta ( double d )

Sets the delta.

Parameters

d	the new delta

Definition at line 560 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.d, and com.neuronrobotics.sdk.addons.kinematics.DHLink.newLinkConf.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink().

◆ setJacobianMatrix()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setJacobianMatrix	(	double	rotory,
		double	prismatic
	)

private

Sets up the 2 alterable Jacobian matrixs .

Parameters

rotory	the rotory velocity of the Theta link
prismatic	the linear velocity of the D link

Definition at line 431 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getD(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getTheta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.rotZ_J, and com.neuronrobotics.sdk.addons.kinematics.DHLink.transZ_J.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepJacobian().

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◆ setLinkType()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setLinkType ( DhLinkType type )

Sets the type.

Parameters

type	the new type

Definition at line 622 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.type.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink().

◆ setListener()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setListener ( Object listener )

Sets the listener.

Parameters

listener the new listener

Definition at line 524 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.listener.

Referenced by com.neuronrobotics.bowlerstudio.scripting.RobotHelper.getDefaultContents(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateLimb().

◆ setMatrix()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setMatrix	(	double	rotory,
		double	prismatic
	)

private

Sets the matrix.

Parameters

rotory	the rotory
prismatic	the prismatic

Definition at line 342 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getD(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getTheta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.rotZ, and com.neuronrobotics.sdk.addons.kinematics.DHLink.transZ.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStep(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse().

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◆ setMobileBaseXml()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setMobileBaseXml ( MobileBase embedableXml )

Sets the mobile base xml.

Parameters

embedableXml the new mobile base xml

Definition at line 631 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.setSlaveMobileBase().

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.loadConfig().

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◆ setRadius()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setRadius ( double radius )

Sets the radius.

Parameters

radius the new radius

Definition at line 579 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.newLinkConf, com.neuronrobotics.sdk.addons.kinematics.DHLink.radius, com.neuronrobotics.sdk.addons.kinematics.DHLink.transX, and com.neuronrobotics.sdk.addons.kinematics.DHLink.transX_J.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink().

◆ setRotX()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setRotX ( Matrix rotX )

Sets the rot x.

Parameters

rotX	the new rot x

Definition at line 331 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.rotX.

◆ setSlaveMobileBase()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setSlaveMobileBase ( MobileBase embedableXml )

Definition at line 639 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.setMobileBaseXml().

◆ setTheta()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setTheta ( double theta )

Sets the theta.

Parameters

theta the new theta

Definition at line 591 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.newLinkConf, and com.neuronrobotics.sdk.addons.kinematics.DHLink.theta.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink().

◆ setTransX()

void com.neuronrobotics.sdk.addons.kinematics.DHLink.setTransX ( Matrix transX )

Sets the trans x.

Parameters

transX the new trans x

Definition at line 322 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.transX.

◆ toString()

String com.neuronrobotics.sdk.addons.kinematics.DHLink.toString ( )

Definition at line 501 of file DHLink.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.getAlpha(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getDelta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getRadius(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.getTheta().

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Member Data Documentation

◆ alpha

double com.neuronrobotics.sdk.addons.kinematics.DHLink.alpha

private

The alpha.

Definition at line 29 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getAlpha(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getXml(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setAlpha().

◆ d

double com.neuronrobotics.sdk.addons.kinematics.DHLink.d

private

The d.

Definition at line 20 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getDelta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getXml(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setDelta().

◆ dhlisteners

ArrayList<IDhLinkPositionListener> com.neuronrobotics.sdk.addons.kinematics.DHLink.dhlisteners = new ArrayList<IDhLinkPositionListener>()

private

The dhlisteners.

Definition at line 65 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.addDhLinkPositionListener(), com.neuronrobotics.sdk.addons.kinematics.DHLink.fireOnLinkGlobalPositionChange(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.removeDhLinkPositionListener().

◆ listener

Object com.neuronrobotics.sdk.addons.kinematics.DHLink.listener =null

private

The listener.

Definition at line 56 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getListener(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setListener().

◆ newLinkConf

LinkConfiguration com.neuronrobotics.sdk.addons.kinematics.DHLink.newLinkConf

private

Definition at line 70 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DHLink(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setAlpha(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setDelta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setRadius(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setTheta().

◆ radius

double com.neuronrobotics.sdk.addons.kinematics.DHLink.radius

private

The radius.

Definition at line 26 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getRadius(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getXml(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setRadius().

◆ root

Object com.neuronrobotics.sdk.addons.kinematics.DHLink.root =null

private

The root.

Definition at line 59 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getRootListener().

◆ rotX

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.rotX

private

The rot x.

Definition at line 35 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotX(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setAlpha(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setRotX().

◆ rotX_J

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.rotX_J

private

The rot x_ j.

Definition at line 47 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotX_J(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setAlpha().

◆ rotZ

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.rotZ

private

The rot z.

Definition at line 41 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotZ(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setMatrix().

◆ rotZ_J

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.rotZ_J

private

The rot z_ j.

Definition at line 53 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getRotZ_J(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setJacobianMatrix().

◆ slaveMobileBase

MobileBase com.neuronrobotics.sdk.addons.kinematics.DHLink.slaveMobileBase =null

private

The embedable xml.

Definition at line 68 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.fireOnLinkGlobalPositionChange(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.getSlaveMobileBase().

◆ theta

double com.neuronrobotics.sdk.addons.kinematics.DHLink.theta

private

The theta.

Definition at line 23 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getTheta(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getXml(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setTheta().

◆ transX

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.transX

private

The trans x.

Definition at line 32 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransX(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setRadius(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setTransX().

◆ transX_J

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.transX_J

private

The trans x_ j.

Definition at line 44 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransX_J(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setRadius().

◆ transZ

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.transZ

private

The trans z.

Definition at line 38 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransZ(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setMatrix().

◆ transZ_J

Matrix com.neuronrobotics.sdk.addons.kinematics.DHLink.transZ_J

private

The trans z_ j.

Definition at line 50 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.getTransZ_J(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setJacobianMatrix().

◆ type

DhLinkType com.neuronrobotics.sdk.addons.kinematics.DHLink.type = DhLinkType.ROTORY

private

The type.

Definition at line 62 of file DHLink.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStep(), com.neuronrobotics.sdk.addons.kinematics.DHLink.DhStepInverse(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getLinkType(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setLinkType().

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

java-bowler/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DHLink() [1/3]

◆ DHLink() [2/3]

◆ DHLink() [3/3]

Member Function Documentation

◆ addDhLinkPositionListener()

◆ DhStep() [1/2]

◆ DhStep() [2/2]

◆ DhStepInverse() [1/3]

◆ DhStepInverse() [2/3]

◆ DhStepInverse() [3/3]

◆ DhStepInversePrismatic()

◆ DhStepInverseRotory()

◆ DhStepJacobian()

◆ fireOnLinkGlobalPositionChange()

◆ getAlpha()

◆ getD()

◆ getDelta()

◆ getLinkType()

◆ getListener()

◆ getR()

◆ getRadius()

◆ getRootListener()

◆ getRotX()

◆ getRotX_J()

◆ getRotZ()

◆ getRotZ_J()

◆ getSlaveMobileBase()

◆ getTheta()

◆ getTransX()

◆ getTransX_J()

◆ getTransZ()

◆ getTransZ_J()

◆ getXml()

◆ removeDhLinkPositionListener()

◆ setAlpha()

◆ setDelta()

◆ setJacobianMatrix()

◆ setLinkType()

◆ setListener()

◆ setMatrix()

◆ setMobileBaseXml()

◆ setRadius()

◆ setRotX()

◆ setSlaveMobileBase()

◆ setTheta()

◆ setTransX()

◆ toString()

Member Data Documentation

◆ alpha

◆ d

◆ dhlisteners

◆ listener

◆ newLinkConf

◆ radius

◆ root

◆ rotX

◆ rotX_J

◆ rotZ

◆ rotZ_J

◆ slaveMobileBase

◆ theta

◆ transX

◆ transX_J

◆ transZ

◆ transZ_J

◆ type