org.myrobotlab.kinematics

Class DHRobotArm

java.lang.Object

org.myrobotlab.kinematics.DHRobotArm

All Implemented Interfaces:

java.io.Serializable

public class DHRobotArm
extends java.lang.Object
implements java.io.Serializable

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
InverseKinematics3D	ik3D
static org.slf4j.Logger	log
java.lang.String	name

Constructor Summary

Constructors

Constructor and Description
DHRobotArm()
DHRobotArm(DHRobotArm copy)

Method Summary

Modifier and Type	Method and Description
java.util.ArrayList<DHLink>	addLink(DHLink link)
boolean	armMovementEnds()
void	centerAllJoints()
double[][]	createJointPositionMap()
Matrix	getJInverse()
Point	getJointPosition(int index)
DHLink	getLink(int i)
java.util.ArrayList<DHLink>	getLinks()
int	getNumLinks()
Point	getPalmPosition()
Point	getPalmPosition(java.lang.String lastDHLink)
Point	getVector()
boolean	moveToGoal(Point goal)
void	setIk3D(InverseKinematics3D ik3d)
void	setLinks(java.util.ArrayList<DHLink> links)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

log

public static final transient org.slf4j.Logger log

name

public java.lang.String name

ik3D

public transient InverseKinematics3D ik3D

Constructor Detail

DHRobotArm

public DHRobotArm()

DHRobotArm

public DHRobotArm(DHRobotArm copy)

Method Detail

addLink

public java.util.ArrayList<DHLink> addLink(DHLink link)

getJInverse

public Matrix getJInverse()

getLink

public DHLink getLink(int i)

getLinks

public java.util.ArrayList<DHLink> getLinks()

getNumLinks

public int getNumLinks()

getJointPosition

public Point getJointPosition(int index)

getPalmPosition

public Point getPalmPosition(java.lang.String lastDHLink)

Parameters:

lastDHLink - the index of the link that you want the global position at.

Returns:

the x,y,z of the palm. roll,pitc, and yaw are not returned/computed with this function

centerAllJoints

public void centerAllJoints()

moveToGoal

public boolean moveToGoal(Point goal)

setLinks

public void setLinks(java.util.ArrayList<DHLink> links)

setIk3D

public void setIk3D(InverseKinematics3D ik3d)

armMovementEnds

public boolean armMovementEnds()

createJointPositionMap

public double[][] createJointPositionMap()

getVector

public Point getVector()

getPalmPosition

public Point getPalmPosition()