public class DHRobotArm
extends java.lang.Object
implements java.io.Serializable
Modifier and Type | Field and Description |
---|---|
InverseKinematics3D |
ik3D |
static org.slf4j.Logger |
log |
java.lang.String |
name |
Constructor and Description |
---|
DHRobotArm() |
DHRobotArm(DHRobotArm copy) |
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) |
public static final transient org.slf4j.Logger log
public java.lang.String name
public transient InverseKinematics3D ik3D
public DHRobotArm()
public DHRobotArm(DHRobotArm copy)
public Matrix getJInverse()
public DHLink getLink(int i)
public java.util.ArrayList<DHLink> getLinks()
public int getNumLinks()
public Point getJointPosition(int index)
public Point getPalmPosition(java.lang.String lastDHLink)
lastDHLink
- the index of the link that you want the global position at.public void centerAllJoints()
public boolean moveToGoal(Point goal)
public void setLinks(java.util.ArrayList<DHLink> links)
public void setIk3D(InverseKinematics3D ik3d)
public boolean armMovementEnds()
public double[][] createJointPositionMap()
public Point getVector()
public Point getPalmPosition()