CDh Class Reference

Denavit Hartenberg Link information. More...

#include <robot.h>

List of all members.

Public Member Functions

 CDh ()
float getAngle ()
 Returns current angle.
void setAngle (float angle)
 Sets current angle.
void set (float rot_z, float trans_z, float rot_x, float trans_x)

Public Attributes

float rot_z
 Rotation offset around z-axis.
float trans_z
 Translation offset along z-axis.
float rot_x
 Rotation offset around rotated x-axis.
float trans_x
 Translation offset along rotated x-axis.
float angle
 Current angle of rotation aroung z-axis (changes with the real servo position).
float sgn
 Direction of rotation (+1.0 clockwise, -1.0 counterclockwise).
int id
 Index of servo motor associated with the frame.


Detailed Description

Denavit Hartenberg Link information.


Constructor & Destructor Documentation

CDh::CDh (  ) 


Member Function Documentation

float CDh::getAngle (  ) 

Returns current angle.

void CDh::setAngle ( float  angle  ) 

Sets current angle.

void CDh::set ( float  rot_z,
float  trans_z,
float  rot_x,
float  trans_x 
)


Member Data Documentation

float CDh::rot_z

Rotation offset around z-axis.

float CDh::trans_z

Translation offset along z-axis.

float CDh::rot_x

Rotation offset around rotated x-axis.

float CDh::trans_x

Translation offset along rotated x-axis.

float CDh::angle

Current angle of rotation aroung z-axis (changes with the real servo position).

float CDh::sgn

Direction of rotation (+1.0 clockwise, -1.0 counterclockwise).

int CDh::id

Index of servo motor associated with the frame.


The documentation for this class was generated from the following files:
Generated on Mon Apr 21 23:27:43 2008 for BioloidControl by  doxygen 1.5.2