Robot::Robot6Axis Class Reference

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

#include <Robot6Axis.h>

Public Member Functions
bool calcTcp (void)
	calculate the new Tcp out of the Axis More...
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? More...
double getMinAngle (int Axis)
Base::Placement getTcp (void)
void readKinematic (const char *FileName)
	read the kinematic parameters of the robot from a file More...
virtual void Restore (Base::XMLReader &)
	This method is used to restore properties from an XML document. More...
Robot6Axis ()
virtual void Save (Base::Writer &) const
	This method is used to save properties to an XML document. More...
bool setAxis (int Axis, double Value)
void setKinematic (const AxisDefinition KinDef[6])
	set the kinematic parameters of the robot More...
bool setTo (const Base::Placement &To)
	set the robot to that position, calculates the Axis More...
~Robot6Axis ()
Public Member Functions inherited from Base::Persistence
void dumpToStream (std::ostream &stream, int compression)
virtual Base::Type getTypeId (void) const
virtual void RestoreDocFile (Reader &)
	This method is used to restore large amounts of data from a file In this method you simply stream in your SaveDocFile() saved data. More...
void restoreFromStream (std::istream &stream)
virtual void SaveDocFile (Writer &) const
	This method is used to save large amounts of data to a binary file. More...
Public Member Functions inherited from Base::BaseClass
BaseClass ()
	Construction. More...
virtual PyObject * getPyObject (void)
	This method returns the Python wrapper for a C++ object. More...
bool isDerivedFrom (const Type type) const
virtual void setPyObject (PyObject *)
virtual ~BaseClass ()
	Destruction. More...

Protected Attributes
KDL::JntArray Actuall
KDL::Chain Kinematic
KDL::JntArray Max
KDL::JntArray Min
double RotDir [6]
KDL::Frame Tcp
double Velocity [6]

Additional Inherited Members
Static Public Member Functions inherited from Base::Persistence
static void * create (void)
static std::string encodeAttribute (const std::string &)
	Encodes an attribute upon saving. More...
static Base::Type getClassTypeId (void)
static void init (void)
Static Public Member Functions inherited from Base::BaseClass
static void * create (void)
static Type getClassTypeId (void)
static void init (void)
Static Protected Member Functions inherited from Base::BaseClass
static void initSubclass (Base::Type &toInit, const char *ClassName, const char *ParentName, Type::instantiationMethod method=nullptr)

Detailed Description

The representation for a 6-Axis industry grade robot.

Constructor & Destructor Documentation

Robot6Axis()

Robot6Axis::Robot6Axis

(

)

~Robot6Axis()

Robot6Axis::~Robot6Axis

(

)

Member Function Documentation

calcTcp()

bool Robot6Axis::calcTcp

(

void

)

calculate the new Tcp out of the Axis

getAxis()

double Robot6Axis::getAxis

(

int

Axis

)

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

getMaxAngle()

double Robot6Axis::getMaxAngle

(

int

Axis

)

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

getMemSize()

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.

getMinAngle()

double Robot6Axis::getMinAngle

(

int

Axis

)

Referenced by RobotGui::TaskRobot6Axis::setRobot().

getTcp()

Base::Placement Robot6Axis::getTcp

(

void

)

Referenced by Robot::Robot6AxisPy::representation(), RobotGui::TaskTrajectory::setTo(), and RobotGui::TrajectorySimulate::setTo().

readKinematic()

void Robot6Axis::readKinematic

(

const char *

FileName

)

read the kinematic parameters of the robot from a file

References Robot::AxisDefinition::a, Robot::AxisDefinition::alpha, Robot::AxisDefinition::d, Robot::AxisDefinition::maxAngle, Robot::AxisDefinition::minAngle, Robot::AxisDefinition::rotDir, Robot::AxisDefinition::theta, and Robot::AxisDefinition::velocity.

Restore()

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 = reader.getAttributeAsFloat("valueX");
  _cVec.y = reader.getAttributeAsFloat("valueY");
  _cVec.z = reader.getAttributeAsFloat("valueZ");
}

Implements Base::Persistence.

References Base::XMLReader::getAttributeAsFloat(), Base::XMLReader::hasAttribute(), Base::XMLReader::readElement(), and Robot::toFrame().

Save()

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 indentation, 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.

See also

Base::Writer

Implements Base::Persistence.

References Base::Placement::getPosition(), Base::Placement::getRotation(), Base::Writer::ind(), Base::Writer::Stream(), Robot::toPlacement(), Base::Vector3< _Precision >::x, Base::Vector3< _Precision >::y, and Base::Vector3< _Precision >::z.

setAxis()

bool Robot6Axis::setAxis	(	int	Axis,
		double	Value
	)

Referenced by Robot::Simulation::reset(), Robot::Robot6AxisPy::setAxis1(), Robot::Robot6AxisPy::setAxis2(), Robot::Robot6AxisPy::setAxis3(), Robot::Robot6AxisPy::setAxis4(), Robot::Robot6AxisPy::setAxis5(), and Robot::Robot6AxisPy::setAxis6().

setKinematic()

void Robot6Axis::setKinematic

(

const AxisDefinition

KinDef[6]

)

set the kinematic parameters of the robot

References Robot::AxisDefinition::maxAngle, Robot::AxisDefinition::minAngle, Robot::AxisDefinition::rotDir, and Robot::AxisDefinition::velocity.

setTo()

bool Robot6Axis::setTo

(

const Base::Placement &

To

)

set the robot to that position, calculates the Axis

References Base::Placement::getPosition(), and Base::Placement::getRotation().

Referenced by Robot::Simulation::reset(), Robot::Robot6AxisPy::setTcp(), and Robot::Simulation::setToTime().

Member Data Documentation

Actuall

KDL::JntArray Robot::Robot6Axis::Actuall

protected

Kinematic

KDL::Chain Robot::Robot6Axis::Kinematic

protected

Max

KDL::JntArray Robot::Robot6Axis::Max

protected

Min

KDL::JntArray Robot::Robot6Axis::Min

protected

RotDir

double Robot::Robot6Axis::RotDir[6]

protected

Tcp

KDL::Frame Robot::Robot6Axis::Tcp

protected

Velocity

double Robot::Robot6Axis::Velocity[6]

protected

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

• src/Mod/Robot/App/Robot6Axis.h
• src/Mod/Robot/App/Robot6Axis.cpp