Class JointParam¶

Defined in File KinematicsApi.h

Class Documentation¶

class JointParam¶

struct to keep link and motor paramters of the robot.

Public Types

enum JointType¶

Joint type.

Values:

enumerator RotateXAxis¶: rotate around X axis

enumerator RotateYAxis¶: rotate around Y axis

enumerator RotateZAxis¶: rotate around Z axis

enumerator LinearXAxis¶: linear motion along X axis

enumerator LinearYAxis¶: linear motion along Y axis

enumerator LinearZAxis¶: linear motion along Z axis

enumerator JointTypeCount¶: A number of joint type of the robot.

Public Functions

inline JointParam()¶: Constructor to initialize an ‘JointParam’ object with default parameters.

inline JointParam(JointType type, int mid, const coordinate::CartesianPose &offset, double jointMaxPosLimit, double jointMinPosLimit, double velLimit, double accLimit)¶

Constructor to initialize an ‘JointParam’ object with specified parameters.

Parameters:

type – [in] Joint type
mid – [in] WMX Axis
offset – [in] position from the previous
jointMaxPosLimit – [in] positive soft limit of joint position
jointMinPosLimit – [in] negative soft limit of joint position
velLimit – [in] soft limit of joint velocity
accLimit – [in] positive soft limit of joint acceleration

inline JointParam(JointType type, int mid, const coordinate::CartesianPose &offset, double jointMaxPosLimit, double jointMinPosLimit)¶

Constructor to initialize an ‘JointParam’ object with specified parameters without velocity limits and acceleration limit.

Parameters:

type – [in] Joint type
mid – [in] WMX Axis
offset – [in] position from the previous
jointMaxPosLimit – [in] positive soft limit of joint position
jointMinPosLimit – [in] negative soft limit of joint position

Public Members

TCHAR jointName[constants::KinematicsDefinition::ROBOT_NAME_MAX_LENGTH]¶: Name of the joint.

JointType jointType¶: type of the joint.

int axis¶: WMX Axis.

coordinate::CartesianPose jointOrigin¶: relative displacement from the previous link joint

double maxAngle¶: maximum position of the joint (deg / mm)

double minAngle¶: minimum position of the joint (deg / mm)

double velocityLimit¶: velocity limit of the joint (deg/sec or mm/sec)

double accelerationLimit¶: maximum velocity of the joint (deg/sec^2 or mm/sec^2)

JointCouplingInfo mimic¶

mimic joint information.