Robot::Robot6Axis Class Reference

The representation for a 6-Axis industry grade robot. More...

#include <Robot6Axis.h>

Inheritance diagram for Robot::Robot6Axis:

Public Member Functions
bool	calcTcp (void)
	calculate the new Tcp out of the Axis
double	getAxis (int Axis)
double	getMaxAngle (int Axis)
virtual unsigned int	getMemSize (void) const
	This method is used to get the size of objects It is not meant to have the exact size, it is more or less an estimation which runs fast! Is it two bytes or a GB?
double	getMinAngle (int Axis)
Base::Placement	getTcp (void)
virtual Base::Type	getTypeId (void) const
void	readKinematic (const char *FileName)
	read the kinematic parameters of the robot from a file
virtual void	Restore (Base::XMLReader &)
	This method is used to restore properties from an XML document.
	Robot6Axis ()
virtual void	Save (Base::Writer &) const
	This method is used to save properties to an XML document.
bool	setAxis (int Axis, double Value)
void	setKinematic (const AxisDefinition KinDef[6])
	set the kinematic parameters of the robot
bool	setTo (const Base::Placement &To)
	set the robot to that position, calculates the Axis
	~Robot6Axis ()
Static Public Member Functions
static void *	create (void)
static Base::Type	getClassTypeId (void)
static void	init (void)
Protected Attributes
KDL::JntArray	Actuall
KDL::Chain	Kinematic
KDL::JntArray	Max
KDL::JntArray	Min
double	RotDir [6]
KDL::Frame	Tcp
double	Velocity [6]

Detailed Description

The representation for a 6-Axis industry grade robot.

Definition at line 51 of file Robot6Axis.h.

Constructor & Destructor Documentation

Robot6Axis::Robot6Axis ( )

Definition at line 72 of file Robot6Axis.cpp.

References Actuall, Max, Min, and setKinematic().

Robot6Axis::~Robot6Axis ( )

Definition at line 85 of file Robot6Axis.cpp.

Member Function Documentation

bool Robot6Axis::calcTcp ( void )

calculate the new Tcp out of the Axis

Definition at line 265 of file Robot6Axis.cpp.

References Actuall, KDL::ChainFkSolverPos_recursive::JntToCart(), Kinematic, and Tcp.

Referenced by Restore(), setAxis(), and setKinematic().

void * Robot::Robot6Axis::create ( void ) [static]

Reimplemented from Base::Persistence.

Definition at line 70 of file Robot6Axis.cpp.

double Robot6Axis::getAxis ( int Axis )

Definition at line 291 of file Robot6Axis.cpp.

References Actuall, M_PI, and RotDir.

Referenced by Robot::RobotObject::onChanged(), Robot::Robot6AxisPy::representation(), Robot::Simulation::reset(), Robot::Simulation::setToTime(), and Robot::Simulation::Simulation().

Base::Type Robot::Robot6Axis::getClassTypeId ( void ) [static]

Reimplemented from Base::Persistence.

Definition at line 70 of file Robot6Axis.cpp.

double Robot6Axis::getMaxAngle ( int Axis )

Definition at line 110 of file Robot6Axis.cpp.

References M_PI, and Max.

Referenced by RobotGui::TaskRobot6Axis::setColor(), and RobotGui::TaskRobot6Axis::setRobot().

unsigned int Robot6Axis::getMemSize ( void ) const [virtual]

This method is used to get the size of objects It is not meant to have the exact size, it is more or less an estimation which runs fast! Is it two bytes or a GB?

Implements Base::Persistence.

Definition at line 167 of file Robot6Axis.cpp.

double Robot6Axis::getMinAngle ( int Axis )

Definition at line 115 of file Robot6Axis.cpp.

References M_PI, and Min.

Referenced by RobotGui::TaskRobot6Axis::setColor(), and RobotGui::TaskRobot6Axis::setRobot().

Base::Placement Robot6Axis::getTcp ( void )

Definition at line 258 of file Robot6Axis.cpp.

References KDL::Frame::M, KDL::Frame::p, Tcp, RobotExample::w, MovieTool::x, and MovieTool::y.

Referenced by Robot::RobotObject::onChanged(), Robot::Robot6AxisPy::representation(), and Robot::RobotObject::Restore().

Base::Type Robot::Robot6Axis::getTypeId ( void ) const [virtual]

Reimplemented from Base::Persistence.

Definition at line 70 of file Robot6Axis.cpp.

void Robot::Robot6Axis::init ( void ) [static]

Reimplemented from Base::Persistence.

Definition at line 70 of file Robot6Axis.cpp.

Referenced by initRobot().

void Robot6Axis::readKinematic ( const char * FileName )

read the kinematic parameters of the robot from a file

Definition at line 136 of file Robot6Axis.cpp.

References Robot::AxisDefinition::a, Robot::AxisDefinition::alpha, Robot::AxisDefinition::d, Robot::AxisDefinition::maxAngle, Robot::AxisDefinition::minAngle, Robot::AxisDefinition::rotDir, setKinematic(), split, Robot::AxisDefinition::theta, and Robot::AxisDefinition::velocity.

Referenced by Robot::RobotObject::onChanged().

void Robot6Axis::Restore ( Base::XMLReader & ) [virtual]

This method is used to restore properties from an XML document.

It uses the XMLReader class, which bases on SAX, to read the in Save() written information. Again the Vector as an example:

 void PropertyVector::Restore(Base::XMLReader &reader)
 {
   // read my Element
   reader.readElement("PropertyVector");
   // get the value of my Attribute
   _cVec.x = (float)reader.getAttributeAsFloat("valueX");
   _cVec.y = (float)reader.getAttributeAsFloat("valueY");
   _cVec.z = (float)reader.getAttributeAsFloat("valueZ");
 }

Implements Base::Persistence.

Definition at line 195 of file Robot6Axis.cpp.

References Actuall, KDL::Chain::addSegment(), calcTcp(), Base::XMLReader::getAttributeAsFloat(), Base::XMLReader::hasAttribute(), Kinematic, M_PI, Max, Min, Base::XMLReader::readElement(), Robot::toFrame(), and Velocity.

Referenced by Robot::RobotObject::Restore().

void Robot6Axis::Save ( Base::Writer & ) const [virtual]

This method is used to save properties to an XML document.

A good example you'll find in PropertyStandard.cpp, e.g. the vector:

  void PropertyVector::Save (Writer &writer) const
  {
     writer << writer.ind() << "<PropertyVector valueX=\"" <<  _cVec.x <<
                                            "\" valueY=\"" <<  _cVec.y <<
                                            "\" valueZ=\"" <<  _cVec.z <<"\"/>" << endl;
  }

The writer.ind() expression writes the indention, just for pretty printing of the XML. As you see, the writing of the XML document is not done with a DOM implementation because of performance reasons. Therefore the programmer has to take care that a valid XML document is written. This means closing tags and writing UTF-8.