DHParameters Class Reference

#include <DHParameters.h>

Public Member Functions
Construction
	DHParameters (double _alpha=0.0, double _a=0.0, double _d=0.0, double _theta=0.0)
Conversion
Transformation	GetTransformation () const
	Convert the DH parameter representation into a standard transformation. More...

Data Fields
Internal State
double	m_alpha
	Angle between two x axis. More...
double	m_a
	Distance between two z axis. More...
double	m_d
	Algebraic distance along z axis. More...
double	m_theta
	Angle between two z axis. More...

Friends
I/O
istream &	operator>> (istream &_is, DHParameters &_d)
ostream &	operator<< (ostream &_os, const DHParameters &_d)

Detailed Description

Denavit-Hartenberg Parameters for describing joint connections.

We have changed from 'alternative' to 'standard' DH parameters on r5929. This should only affect spherical joints, of which we had no working examples. In the standard notation, a DH transform looks like two simpler transforms: One:

• m_d is the offset along the parent z to the common normal (new x)
• m_theta is the rotation about the parent z Two:
• m_a is the offset along the x axis after transform One
• m_alpha is the rotation about the x axis after transform One Check wikipedia's article for further details.

Constructor & Destructor Documentation

DHParameters()

DHParameters::DHParameters	(	double	_alpha = 0.0,
		double	_a = 0.0,
		double	_d = 0.0,
		double	_theta = 0.0
	)

Construct a set of DH params from explicit values.

Parameters

_alpha	Alpha
_a	A
_d	D
_theta	Theta

Member Function Documentation

GetTransformation()

Transformation DHParameters::GetTransformation

(

)

const

Convert the DH parameter representation into a standard transformation.

Friends And Related Function Documentation

operator<<

ostream& operator<< ( ostream &  _os, const DHParameters &  _d  )

friend

Write a set of DH params to an outstream.

Parameters

_os	Output stream
_d	DHParameters

operator>>

istream& operator>> ( istream &  _is, DHParameters &  _d  )

friend

Read a set of DH params from an instream.

Parameters

_is	Input stream
_d	DHParameters

Field Documentation

m_a

double DHParameters::m_a

Distance between two z axis.

m_alpha

double DHParameters::m_alpha

Angle between two x axis.

m_d

double DHParameters::m_d

Algebraic distance along z axis.

m_theta

double DHParameters::m_theta

Angle between two z axis.

---

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Bodies/DHParameters.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Bodies/DHParameters.cpp