The tJoints class represents a joint position of a robot (robot axes). More...
#include <robodktypes.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 | Compare (const tJoints &other) const |
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 () |
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... | |
The tJoints class represents a joint position of a robot (robot axes).
Definition at line 239 of file robodktypes.h.
tJoints | ( | int | ndofs = 0 | ) |
ndofs | number of robot joint axes or degrees of freedom |
Definition at line 8 of file robodktypes.cpp.
tJoints | ( | const double * | joints, |
int | ndofs = 0 |
||
) |
Set joint values given a double array and the number of joint values.
joints | Pointer to the joint values |
ndofs | Number of joints |
Definition at line 17 of file robodktypes.cpp.
tJoints | ( | const float * | joints, |
int | ndofs = 0 |
||
) |
Set joint values given a float array and the number of joint values.
joints | Pointer to the joint values |
ndofs | Number of joints |
Definition at line 20 of file robodktypes.cpp.
Create joint values given a 2D matrix and the column selecting the desired values.
mat2d | |
column | |
ndofs |
Definition at line 28 of file robodktypes.cpp.
tJoints | ( | const QString & | str | ) |
Convert a string to joint values.
str | Comma separated joint values (spaces or tabs are also accepted) |
Definition at line 41 of file robodktypes.cpp.
double Compare | ( | const tJoints & | other | ) | const |
Definition at line 65 of file robodktypes.cpp.
double * Data | ( | ) |
Definition at line 73 of file robodktypes.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 line 113 of file robodktypes.cpp.
int GetValues | ( | double * | joints | ) |
GetValues.
joints | joint values in deg or mm |
Definition at line 95 of file robodktypes.cpp.
int Length | ( | ) | const |
Number of joint axes of the robot (or degrees of freedom)
Definition at line 123 of file robodktypes.cpp.
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inline |
To String operator (use with qDebug() << tJoints;.
Definition at line 271 of file robodktypes.h.
void setLength | ( | int | new_length | ) |
Set the length of the array (only shrinking the array is allowed)
Definition at line 126 of file robodktypes.cpp.
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).
joints | joint values in deg or mm |
ndofs | number of degrees of freedom (number of axes or joints) |
Definition at line 78 of file robodktypes.cpp.
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).
joints | joint values in deg or mm |
ndofs | number of degrees of freedom (number of axes or joints) |
Definition at line 87 of file robodktypes.cpp.
QString ToString | ( | const QString & | separator = ", " , |
int | precision = 3 |
||
) | const |
Retrieve a string representation of the joint values.
separator | String to add between consecutive joint values |
precision | Number of decimals |
Definition at line 101 of file robodktypes.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::SolveIK returns a non valid joints)
Definition at line 131 of file robodktypes.cpp.
const double * Values | ( | ) | const |
Joint values.
Definition at line 60 of file robodktypes.cpp.
const double * ValuesD | ( | ) | const |
Joint values.
Definition at line 46 of file robodktypes.cpp.
const float * ValuesF | ( | ) | const |
Joint values.
Definition at line 49 of file robodktypes.cpp.
int _nDOFs |
number of degrees of freedom
Definition at line 340 of file robodktypes.h.
double _Values[RDK_SIZE_JOINTS_MAX] |
joint values (doubles, used to store the joint values)
Definition at line 343 of file robodktypes.h.
float _ValuesF[RDK_SIZE_JOINTS_MAX] |
joint values (floats, used to return a copy as a float pointer)
Definition at line 346 of file robodktypes.h.