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.

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Detailed Description

Denavit Hartenberg Link information.

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Constructor & Destructor Documentation

CDh::CDh

(

)

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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
	)

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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.

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

• include/robot.h
• src/robot.cpp

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