816(*emx)->data[i] = value;
The Mat class represents a 4x4 pose matrix. The main purpose of this object is to represent a pose in...
QString ToString(const QString &separator=", ", int precision=3, bool xyzrpw_only=false) const
Retrieve a string representation of the pose.
Mat()
Create the identity matrix.
void VX(tXYZ xyz) const
Get the X vector (N vector)
void setVX(double x, double y, double z)
Set the X vector values (N vector)
void FromXYZRPW(tXYZWPR xyzwpr)
Calculates the pose from the position and euler angles ([x,y,z,r,p,w] vector) The result is the same ...
void VY(tXYZ xyz) const
Get the Y vector (O vector)
static Mat transl(double x, double y, double z)
Return a translation matrix.
void ToXYZRPW(tXYZWPR xyzwpr) const
Calculates the equivalent position and euler angles ([x,y,z,r,p,w] vector) of the given pose Note: tr...
void setVZ(double x, double y, double z)
Set the Z vector values (A vector)
double Get(int r, int c) const
Get a matrix value.
bool Valid() const
Check if the matrix is valid.
void setVY(double x, double y, double z)
Set the Y vector values (O vector)
static Mat roty(double ry)
Return a Y-axis rotation matrix
const double * Values() const
Get a pointer to the 16-digit array (doubles or floats if ROBODK_API_FLOATS is defined).
void setValues(double pose[16])
Set the pose values.
void Pos(tXYZ xyz) const
Get the position (T position), in mm.
bool MakeHomogeneous()
Forces 4x4 matrix to be homogeneous (vx,vy,vz must be unitary vectors and respect: vx x vy = vz)....
static Mat rotz(double rz)
Return a Z-axis rotation matrix.
const double * ValuesD() const
Get a pointer to the 16-digit double array.
double _ddata16[16]
Copy of the data as a double array.
bool FromString(const QString &str)
Set the matrix given a XYZRPW string array (6-values)
double _valid
Flags if a matrix is not valid.
Mat inv() const
Invert the pose (homogeneous matrix assumed)
void setPos(double x, double y, double z)
Set the position (T position) in mm.
void VZ(tXYZ xyz) const
Get the Z vector (A vector)
bool isHomogeneous() const
Returns true if the matrix is homogeneous, otherwise it returns false.
const float * ValuesF() const
Get a pointer to the 16-digit array as an array of floats.
void Set(int r, int c, double value)
Set a matrix value.
static Mat rotx(double rx)
Return the X-axis rotation matrix.
static Mat XYZRPW_2_Mat(double x, double y, double z, double r, double p, double w)
Calculates the pose from the position and euler angles ([x,y,z,r,p,w] vector) The result is the same ...
The tJoints class represents a joint position of a robot (robot axes).
int GetValues(double *joints)
GetValues.
tJoints(int ndofs=0)
tJoints
QString ToString(const QString &separator=", ", int precision=3) const
Retrieve a string representation of the joint values.
int Length() const
机器人的关节轴数(或度freedom)
const double * Values() const
联合values.
bool Valid()
Check if the joints are valid. For example, when we request the Inverse kinematics and there is no so...
int _nDOFs
number of degrees of freedom
const double * ValuesD() const
联合values.
double _Values[RDK_SIZE_JOINTS_MAX]
joint values (doubles, used to store the joint values)
bool FromString(const QString &str)
Set the joint values given a comma-separated string. Tabs and spaces are also allowed.
void setLength(int new_length)
Set the length of the array (only shrinking the array is allowed)
float _ValuesF[RDK_SIZE_JOINTS_MAX]
joint values (floats, used to return a copy as a float pointer)
const float * ValuesF() const
联合values.
无效的setvalue (const双*关节,int ndofs = 1)
Set the joint values in deg or mm. You can also important provide the number of degrees of freedom (6...
The tMatrix2D struct represents a variable size 2d Matrix. Use the Matrix2D_... functions to oeprate ...
double * data
Pointer to the data.
int * size
Pointer to the size array.
int allocatedSize
Allocated size.
int numDimensions
Number of dimensions (usually 2)