ThetJointsclass represents a joint position of a robot (robot axes).More...
#include <robodktypes.h>
Public Member Functions |
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tJoints(int ndofs=0) | |
tJointsMore... |
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tJoints(const double *joints, int ndofs=0) | |
Set joint values given a double array and the number of joint values.More... |
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tJoints(const float *joints, int ndofs=0) | |
Set joint values given a float array and the number of joint values.More... |
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tJoints(consttJoints&jnts) | |
Create a copy of an object.More... |
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tJoints(consttMatrix2D*mat2d, int column=0, int ndofs=-1) | |
Create joint values given a 2D matrix and the column selecting the desired values.More... |
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tJoints(const QString &str) | |
Convert a string to joint values.More... |
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operator QString() const | |
To String operator (use with qDebug() <<tJoints;.More... |
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const double * | ValuesD() const |
Joint values.More... |
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const float * | ValuesF() const |
Joint values.More... |
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const double * | Values() const |
Joint values.More... |
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double | Compare(consttJoints&other) const |
double * | Data() |
int | Length() const |
Number of joint axes of the robot (or degrees of freedom)More... |
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void | setLength(int new_length) |
Set the length of the array (only shrinking the array is allowed)More... |
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bool | Valid() |
Check if the joints are valid. For example, when we request the Inverse kinematics and there is no solution the joints will not be valid. (for example, an invalid result after calling class:IItem::SolveIKreturns a non valid joints)More... |
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int | GetValues(double *joints) |
GetValues.More... |
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void | SetValues(const double *joints, int ndofs=-1) |
Set the joint values in deg or mm. You can also important provide the number of degrees of freedom (6 for a 6 axis robot).More... |
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void | SetValues(const float *joints, int ndofs=-1) |
Set the joint values in deg or mm (floats). You can also important provide the number of degrees of freedom (6 for a 6 axis robot).More... |
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QString | ToString(const QString &separator=", ", int precision=3) const |
Retrieve a string representation of the joint values.More... |
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bool | FromString(const QString &str) |
Set the joint values given a comma-separated string. Tabs and spaces are also allowed.More... |
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Public Attributes |
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int | _nDOFs |
number of degrees of freedomMore... |
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double | _Values[RDK_SIZE_JOINTS_MAX] |
乔int values (doubles, used to store the joint values)More... |
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float | _ValuesF[RDK_SIZE_JOINTS_MAX] |
乔int values (floats, used to return a copy as a float pointer)More... |
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ThetJointsclass represents a joint position of a robot (robot axes).
Definition at line239of filerobodktypes.h.
tJoints | ( | int | ndofs=0 |
) |
ndofs | number of robot joint axes or degrees of freedom |
Definition at line8of filerobodktypes.cpp.
tJoints | ( | const double * | 乔ints, |
int | ndofs=0 |
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) |
Set joint values given a double array and the number of joint values.
乔ints | Pointer to the joint values |
ndofs | Number of joints |
Definition at line17of filerobodktypes.cpp.
tJoints | ( | const float * | 乔ints, |
int | ndofs=0 |
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) |
Set joint values given a float array and the number of joint values.
乔ints | Pointer to the joint values |
ndofs | Number of joints |
Definition at line20of filerobodktypes.cpp.
Create joint values given a 2D matrix and the column selecting the desired values.
mat2d | |
column | |
ndofs |
Definition at line28of filerobodktypes.cpp.
tJoints | ( | const QString & | str | ) |
Convert a string to joint values.
str | Comma separated joint values (spaces or tabs are also accepted) |
Definition at line41of filerobodktypes.cpp.
double Compare | ( | consttJoints& | other | ) | const |
Definition at line65of filerobodktypes.cpp.
double * Data | ( | ) |
Definition at line73of filerobodktypes.cpp.
bool FromString | ( | const QString & | str | ) |
Set the joint values given a comma-separated string. Tabs and spaces are also allowed.
str | string. Such as "10, 20, 30, 40, 50, 60" |
Definition at line113of filerobodktypes.cpp.
int GetValues | ( | double * | 乔ints | ) |
GetValues.
乔ints | 乔int values in deg or mm |
Definition at line95of filerobodktypes.cpp.
int Length | ( | ) | const |
Number of joint axes of the robot (or degrees of freedom)
Definition at line123of filerobodktypes.cpp.
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inline |
To String operator (use with qDebug() <<tJoints;.
Definition at line271of filerobodktypes.h.
void setLength | ( | int | new_length | ) |
Set the length of the array (only shrinking the array is allowed)
Definition at line126of filerobodktypes.cpp.
void SetValues | ( | const double * | 乔ints, |
int | ndofs=-1 |
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) |
Set the joint values in deg or mm. You can also important provide the number of degrees of freedom (6 for a 6 axis robot).
乔ints | 乔int values in deg or mm |
ndofs | number of degrees of freedom (number of axes or joints) |
Definition at line78of filerobodktypes.cpp.
void SetValues | ( | const float * | 乔ints, |
int | ndofs=-1 |
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) |
Set the joint values in deg or mm (floats). You can also important provide the number of degrees of freedom (6 for a 6 axis robot).
乔ints | 乔int values in deg or mm |
ndofs | number of degrees of freedom (number of axes or joints) |
Definition at line87of filerobodktypes.cpp.
QString ToString | ( | const QString & | separator=", " , |
int | precision=3 |
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) | const |
Retrieve a string representation of the joint values.
separator | String to add between consecutive joint values |
precision | Number of decimals |
Definition at line101of filerobodktypes.cpp.
bool Valid | ( | ) |
Check if the joints are valid. For example, when we request the Inverse kinematics and there is no solution the joints will not be valid. (for example, an invalid result after calling class:IItem::SolveIKreturns a non valid joints)
Definition at line131of filerobodktypes.cpp.
const double * Values | ( | ) | const |
Joint values.
Definition at line60of filerobodktypes.cpp.
const双*礼乐祭祀 | ( | ) | const |
Joint values.
Definition at line46of filerobodktypes.cpp.
const float * ValuesF | ( | ) | const |
Joint values.
Definition at line49of filerobodktypes.cpp.
int _nDOFs |
number of degrees of freedom
Definition at line340of filerobodktypes.h.
double _Values[RDK_SIZE_JOINTS_MAX] |
乔int values (doubles, used to store the joint values)
Definition at line343of filerobodktypes.h.
float _ValuesF[RDK_SIZE_JOINTS_MAX] |
乔int values (floats, used to return a copy as a float pointer)
Definition at line346of filerobodktypes.h.