gcop::Arm Class Reference

#include <arm.h>

List of all members.

Public Member Functions
	Arm ()
virtual	~Arm ()
bool	Fk (double p[3], const double a[3])
bool	Ik (double a[2][3], const double p[3])
Public Attributes
double	l1
	first link length
double	l2
	second link length
double	x1
	relative offset to second motor in x direction

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Detailed Description

3-dof arm (rotating base, and two links). Model assumes first joint motor is at center of mass. The local frame is z-up, and arm is zero position means that is straightened along the x+ axis. To account for position offset simply change the parameter p.

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Constructor & Destructor Documentation

Arm::Arm

(

)

Arm::~Arm

(

)

[virtual]

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Member Function Documentation

bool Arm::Fk	(	double	p[3],
		const double	a[3]
	)

Forward kinematics:

Parameters:

p	end-effector position
a	angles: yaw, joint1, joint2

References l1, l2, and x1.

bool Arm::Ik	(	double	a[2][3],
		const double	p[3]
	)

Inverse kinematics

Parameters:

a	angles: yaw, joint1, joint2; a[0][*] is first solution, a[1][*] is second solution
p	end-effector position

References l1, l2, and x1.

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Member Data Documentation

double gcop::Arm::l1

first link length

Referenced by Fk(), and Ik().

double gcop::Arm::l2

second link length

Referenced by Fk(), and Ik().

double gcop::Arm::x1

relative offset to second motor in x direction

Referenced by Fk(), and Ik().

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

• lib/systems/arm.h
• lib/systems/arm.cc