#include <dh_robot.h>

Inheritance diagram for bmpf::DHRobot:

Collaboration diagram for bmpf::DHRobot:

Public Member Functions
void	loadFromFile (std::string path) override
	загрузить параметры робота из файла More...

Public Member Functions inherited from bmpf::BaseRobot
virtual	~BaseRobot ()=default

	BaseRobot ()

virtual std::vector< Eigen::Vector3d >	getJointAxes (std::vector< double > state)

virtual std::vector< Eigen::Matrix4d >	getTransformMatrices (std::vector< double > state)

virtual Eigen::Matrix4d	getEndEffectorTransformMatrix (std::vector< double > state)

Eigen::Matrix4d	getEndEffectorDiffTransformMatrix (std::vector< double > state, int iVal)

Eigen::Matrix4d	getEndEffectorDiff2TransformMatrix (std::vector< double > state, int iVal, int jVal)

bool	isStateEnabled (std::vector< double > state)

std::vector< double >	getWorldTranslation () const

std::vector< double >	getWorldRotation () const

std::vector< double >	getWorldScale () const

std::vector< double >	getWorldTransformVector () const

const std::shared_ptr< Eigen::Matrix4d > &	getWorldTransformMatrix () const

unsigned long	getJointCnt () const

std::vector< double >	getMaxSpeedModules ()

std::vector< double >	getMaxAccelerationModules ()

unsigned long	getLinkCnt () const

std::vector< std::shared_ptr< JointParams > >	getJointParamsList () const

std::vector< std::shared_ptr< Link > >	getLinks () const

std::string	getPath () const

void	setWorldTranslation (const std::vector< double > &translation)

void	setWorldRotation (const std::vector< double > &rotation)

void	setWorldScale (const std::vector< double > &scale)

void	setWorldTransformVector (const std::vector< double > &vec)

std::vector< std::string >	getModelPaths () const

std::vector< double >	getEndEffectorPos (std::vector< double > state)

std::vector< double >	getEndEffectorDiffPos (std::vector< double > state, int iVal)

std::vector< double >	getEndEffectorDiff2Pos (std::vector< double > state, int iVal, int jVal)

std::vector< double >	getEndEffectorRGVector (std::vector< double > state)

std::vector< double >	getEndEffectorDiffRGVector (std::vector< double > state, int iVal)

std::vector< double >	getEndEffectorDiff2RGVector (std::vector< double > state, int iVal, int jVal)

std::vector< double >	getAllLinkPositions (std::vector< double > state)

std::vector< double >	getAllLinkRGVectors (std::vector< double > state)

std::vector< double >	getMassCenterAbsolutePositions (std::vector< double > state)

virtual std::vector< double >	getMassCenterLocalPositions ()

virtual std::vector< Eigen::Matrix3d >	getInertias ()

std::vector< double >	getRandomState ()

Static Public Member Functions
static Eigen::Matrix4d	getDHMatrix (double theta, double d, double a, double alpha)

Additional Inherited Members
Protected Member Functions inherited from bmpf::BaseRobot
void	_fillWorldTransformMatrix ()

template<typename F >
void	_forEachJoint (std::vector< double > state, const F &consumer)

template<typename F >
void	_forEachDiffJoint (std::vector< double > state, int iVal, const F &consumer)

template<typename F >
void	_forEachDiff2Joint (std::vector< double > state, int iVal, int jVal, const F &consumer)

Protected Attributes inherited from bmpf::BaseRobot
std::vector< std::shared_ptr< Joint > >	_joints

std::vector< std::shared_ptr< JointParams > >	_jointParams

std::vector< double >	_maxSpeedModules

std::vector< double >	_maxAccelerationModules

std::vector< std::shared_ptr< Link > >	_links

std::vector< std::shared_ptr< Link > >	_nonHierarchicalLinks

std::string	_path

std::vector< double >	_worldTransformVector

std::shared_ptr< Eigen::Matrix4d >	_worldTransformMatrix

Detailed Description

Робот с параметрами Денавита-Хартенберга (ДХ)

Member Function Documentation

◆ getDHMatrix()

Eigen::Matrix4d DHRobot::getDHMatrix	(	double	theta,
		double	d,
		double	a,
		double	alpha
	)

static

Получить матрицу преобразования по параметрам ДХ

Parameters

theta	параметр theta
d	параметр d
a	параметр a
alpha	параметр alpha

Returns

◆ loadFromFile()

void DHRobot::loadFromFile ( std::string path )

overridevirtual

загрузить параметры робота из файла

Загрузить параметры робота из файла, нужно заполнить следующие поля: _jointParams, _links, _nonHierarchicalLinks, path

Parameters

path	путь к файлу описания робота

Implements bmpf::BaseRobot.

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

project/core/robot/include/dh_robot.h
project/core/robot/src/dh_robot.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getDHMatrix()

◆ loadFromFile()