The tJoints class represents a joint position of a robot (robot axes). More...

#include <robodk_api.h>

Public Member Functions
	tJoints (int ndofs=0)
	tJoints More...

	tJoints (const double *joints, int ndofs=0)
	Set joint values given a double array and the number of joint values. More...

	tJoints (const float *joints, int ndofs=0)
	Set joint values given a float array and the number of joint values. More...

	tJoints (const tJoints &jnts)
	Create a copy of an object. More...

	tJoints (const tMatrix2D *mat2d, int column=0, int ndofs=-1)
	Create joint values given a 2D matrix and the column selecting the desired values. More...

	tJoints (const QString &str)
	Convert a string to joint values. More...

	operator QString () const
	To String operator (use with qDebug() << tJoints;. More...

const double *	ValuesD () const
	Joint values. More...

const float *	ValuesF () const
	Joint values. More...

const double *	Values () const
	Joint values. More...

double *	Data ()

int	Length () const
	Number of joint axes of the robot (or degrees of freedom) More...

void	setLength (int new_length)
	Set the length of the array (only shrinking the array is allowed) More...

bool	Valid () const
	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::SolveIK returns a non valid joints) More...

int	GetValues (double *joints)
	GetValues. More...

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...

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...

QString	ToString (const QString &separator=", ", int precision=3) const
	Retrieve a string representation of the joint values. More...

bool	FromString (const QString &str)
	Set the joint values given a comma-separated string. Tabs and spaces are also allowed. More...

Public Attributes
int	_nDOFs
	number of degrees of freedom More...

double	_Values [RDK_SIZE_JOINTS_MAX]
	joint values (doubles, used to store the joint values) More...

float	_ValuesF [RDK_SIZE_JOINTS_MAX]
	joint values (floats, used to return a copy as a float pointer) More...

Detailed Description

The tJoints class represents a joint position of a robot (robot axes).

Definition at line 384 of file robodk_api.h.

Constructor & Destructor Documentation

◆ tJoints() [1/6]

tJoints ( int ndofs = 0 )

tJoints

Parameters

ndofs number of robot joint axes or degrees of freedom

Definition at line 42 of file robodk_api.cpp.

◆ tJoints() [2/6]

tJoints	(	const double *	joints,
		int	ndofs = `0`
	)

Set joint values given a double array and the number of joint values.

Parameters

joints	Pointer to the joint values
ndofs	Number of joints

Definition at line 51 of file robodk_api.cpp.

◆ tJoints() [3/6]

tJoints	(	const float *	joints,
		int	ndofs = `0`
	)

Set joint values given a float array and the number of joint values.

Parameters

joints	Pointer to the joint values
ndofs	Number of joints

Definition at line 54 of file robodk_api.cpp.

◆ tJoints() [4/6]

tJoints ( const tJoints & jnts )

Create a copy of an object.

Parameters

jnts

Definition at line 48 of file robodk_api.cpp.

◆ tJoints() [5/6]

tJoints	(	const tMatrix2D *	mat2d,
		int	column = `0`,
		int	ndofs = `-1`
	)

Create joint values given a 2D matrix and the column selecting the desired values.

Parameters

mat2d
column
ndofs

Definition at line 62 of file robodk_api.cpp.

◆ tJoints() [6/6]

tJoints ( const QString & str )

Convert a string to joint values.

Parameters

str	Comma separated joint values (spaces or tabs are also accepted)

Definition at line 75 of file robodk_api.cpp.

Member Function Documentation

◆ Data()

double * Data ( )

Returns: Data same as Values. The only difference is that the array pointer is not const. This is provided for backwards compatibility.

Definition at line 99 of file robodk_api.cpp.

◆ FromString()

bool FromString ( const QString & str )

Set the joint values given a comma-separated string. Tabs and spaces are also allowed.

Parameters

str	string. Such as "10, 20, 30, 40, 50, 60"

Returns: false if parsing the string failed. True otherwise.

Definition at line 143 of file robodk_api.cpp.

◆ GetValues()

int GetValues ( double * joints )

GetValues.

Parameters

joints joint values in deg or mm

Returns: returns the number of degrees of freedom

Definition at line 121 of file robodk_api.cpp.

◆ Length()

int Length ( ) const

Number of joint axes of the robot (or degrees of freedom)

Returns

Definition at line 153 of file robodk_api.cpp.

◆ operator QString()

operator QString ( ) const

inline

To String operator (use with qDebug() << tJoints;.

Definition at line 416 of file robodk_api.h.

◆ setLength()

void setLength ( int new_length )

Set the length of the array (only shrinking the array is allowed)

Definition at line 157 of file robodk_api.cpp.

◆ SetValues() [1/2]

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).

Parameters

joints	joint values in deg or mm
ndofs	number of degrees of freedom (number of axes or joints)

Definition at line 104 of file robodk_api.cpp.

◆ SetValues() [2/2]

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).

Parameters

joints	joint values in deg or mm
ndofs	number of degrees of freedom (number of axes or joints)

Definition at line 113 of file robodk_api.cpp.

◆ ToString()

QString ToString	(	const QString &	separator = `", "`,
		int	precision = `3`
	)		const

Retrieve a string representation of the joint values.

Parameters

separator	String to add between consecutive joint values
precision	Number of decimals

Returns: string as a QString

Definition at line 127 of file robodk_api.cpp.

◆ Valid()

bool Valid ( ) const

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::SolveIK returns a non valid joints)

Returns: true if it has 1 degree of freedom or more

Definition at line 163 of file robodk_api.cpp.

◆ Values()

const double * Values ( ) const

Joint values.

Returns: Returns a pointer to the joint data array (doubles or floats if ROBODK_API_FLOATS is defined)

Definition at line 94 of file robodk_api.cpp.

◆ ValuesD()

const double * ValuesD ( ) const

Joint values.

Returns: Returns a pointer to the joint data array (doubles)

Definition at line 80 of file robodk_api.cpp.

◆ ValuesF()

const float * ValuesF ( ) const

Joint values.

Returns: Returns a pointer to the joint data array (floats)

Definition at line 83 of file robodk_api.cpp.

Member Data Documentation

◆ _nDOFs

int _nDOFs

number of degrees of freedom

Definition at line 485 of file robodk_api.h.

◆ _Values

double _Values[RDK_SIZE_JOINTS_MAX]

joint values (doubles, used to store the joint values)

Definition at line 488 of file robodk_api.h.

◆ _ValuesF

float _ValuesF[RDK_SIZE_JOINTS_MAX]

joint values (floats, used to return a copy as a float pointer)

Definition at line 491 of file robodk_api.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ tJoints() [1/6]

◆ tJoints() [2/6]

◆ tJoints() [3/6]

◆ tJoints() [4/6]

◆ tJoints() [5/6]

◆ tJoints() [6/6]

Member Function Documentation

◆ Data()

◆ FromString()

◆ GetValues()

◆ Length()

◆ operator QString()

◆ setLength()

◆ SetValues() [1/2]

◆ SetValues() [2/2]

◆ ToString()

◆ Valid()

◆ Values()

◆ ValuesD()

◆ ValuesF()

Member Data Documentation

◆ _nDOFs

◆ _Values

◆ _ValuesF