Class DHParameterSet


  • public class DHParameterSet
    extends java.lang.Object
    Simple class to help represent a set of Denavit-Hartenberg
    parameters
    • Constructor Detail

      • DHParameterSet

        public DHParameterSet​(long cPtr,
                              boolean cMemoryOwn)
      • DHParameterSet

        public DHParameterSet()
        Constructor for DHParameters initialized to zero.
      • DHParameterSet

        public DHParameterSet​(double alpha,
                              double a,
                              double d,
                              double theta)
        Constructor
        Parameters:
        alpha - [in] \alpha_{i-1}
        a - [in] a_{i-1}
        d - [in] d_{i}
        theta - [in] \theta_{i-1}
      • DHParameterSet

        public DHParameterSet​(double alpha,
                              double a,
                              double d,
                              double theta,
                              java.lang.String type)
        Constructor
        Parameters:
        alpha - [in] \alpha_{i-1}
        a - [in] a_{i-1}
        d - [in] d_{i}
        theta - [in] \theta_{i-1}
        type - documentation missing !
      • DHParameterSet

        public DHParameterSet​(double alpha,
                              double a,
                              double beta,
                              double b,
                              boolean parallel)
        Constructor
        Parameters:
        alpha - [in] \alpha_{i-1}
        a - [in] a_{i-1}
        beta - [in] documentation missing !
        b - [in] documentation missing !
        parallel - [in] documentation missing !
    • Method Detail

      • delete

        public void delete()
      • alpha

        public double alpha()
        \alpha_{i-1} *
      • a

        public double a()
        a_{i-1} *
      • d

        public double d()
        d_{i} *
      • theta

        public double theta()
        $brief \theta_{i} *
      • b

        public double b()
      • beta

        public double beta()
      • isParallel

        public boolean isParallel()
      • getType

        public java.lang.String getType()
        the DH-convention type
      • getDHParameters

        public static DHParameterSetVector getDHParameters​(SerialDevicePtr device)
        Returns the DH-Parameters for a SerialDevice.

        If no or only a partial DH representation exists only the list will be empty or
        non-complete.

        Parameters:
        device - [in] SerialDevice for which to get the DH parameters
        Returns:
        The set of DH parameters