Joints Class Reference

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

#include <joints.h>

Public Member Functions
	Joints ()
	Joints.
	Joints (int ndofs)
	Joints.
	Joints (const double *joints, int ndofs=0)
	Set joint values given a double array and the number of joint values.
	Joints (const float *joints, int ndofs=0)
	Set joint values given a float array and the number of joint values.
	Joints (const Joints &joints)=default
	Create a copy of an object.
Joints &	operator= (const Joints &joints)=default
	Joints (const legacy::Matrix2D *mat2d, int column=0, int ndofs=-1)
	Create joint values given a 2D matrix and the column selecting the desired values.
	Joints (const QString &str)
	Convert a string to joint values.
const double *	ValuesD () const
	Joint values.
const float *	ValuesF () const
	Joint values.
const double *	Values () const
	Joint values.
double	Compare (const Joints &other) const
double *	Data ()
int	Length () const
	Number of joint axes of the robot (or degrees of freedom)
void	setLength (int new_length)
	Set the length of the array (only shrinking the array is allowed)
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::SolveIK returns a non valid joints)
int	GetValues (double *joints)
	GetValues.
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).
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).

Public Attributes
int	_dofCount
	number of degrees of freedom
double	_joints [MaximumJoints]
	joint values (doubles, used to store the joint values)
float	_jointsFloat [MaximumJoints]
	joint values (floats, used to return a copy as a float pointer)

Static Public Attributes
static constexpr int	MaximumJoints = 12

Detailed Description

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

Definition at line 50 of file joints.h.

Constructor & Destructor Documentation

Joints() [1/7]

Joints

(

)

Joints.

Definition at line 43 of file joints.cpp.

Joints() [2/7]

Joints ( int ndofs )

explicit

Joints.

Parameters

ndofs

number of robot joint axes or degrees of freedom

Definition at line 50 of file joints.cpp.

Joints() [3/7]

Joints	(	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 59 of file joints.cpp.

Joints() [4/7]

Joints	(	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 64 of file joints.cpp.

Joints() [5/7]

Joints ( const Joints & joints )

default

Create a copy of an object.

Parameters

jnts

Joints() [6/7]

Joints	(	const legacy::Matrix2D *	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 76 of file joints.cpp.

Joints() [7/7]

Joints

(

const QString &

str

)

Convert a string to joint values.

Parameters

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

Definition at line 92 of file joints.cpp.

Member Function Documentation

Compare()

double Compare

(

const Joints &

other

)

const

Definition at line 125 of file joints.cpp.

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 135 of file joints.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 184 of file joints.cpp.

Length()

int Length

(

)

const

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

Returns

Definition at line 140 of file joints.cpp.

setLength()

void setLength

(

int

new_length

)

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

Definition at line 145 of file joints.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 158 of file joints.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 171 of file joints.cpp.

Valid()

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::SolveIK returns a non valid joints)

Returns

true if it has 1 degree of freedom or more

Definition at line 153 of file joints.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 119 of file joints.cpp.

ValuesD()

const double * ValuesD

(

)

const

Joint values.

Returns

Returns a pointer to the joint data array (doubles)

Definition at line 98 of file joints.cpp.

ValuesF()

const float * ValuesF

(

)

const

Joint values.

Returns

Returns a pointer to the joint data array (floats)

Definition at line 103 of file joints.cpp.

Member Data Documentation

_dofCount

int _dofCount

number of degrees of freedom

Definition at line 162 of file joints.h.

_joints

double _joints[MaximumJoints]

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

Definition at line 165 of file joints.h.

_jointsFloat

float _jointsFloat[MaximumJoints]

mutable

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

Definition at line 168 of file joints.h.

MaximumJoints

int MaximumJoints = 12

staticconstexpr

Definition at line 159 of file joints.h.

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

• joints.h
• joints.cpp