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 unsigned int	getMemSize () const =0
	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...

virtual Base::Type	getTypeId (void) const

virtual void	Restore (XMLReader &)=0
	This method is used to restore properties from an XML document. More...

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	Save (Writer &) const =0
	This method is used to save properties to an XML document. More...

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...

	BaseClass (const BaseClass &)=default

virtual PyObject *	getPyObject ()
	This method returns the Python wrapper for a C++ object. More...

virtual Type	getTypeId () const

bool	isDerivedFrom (const Type type) const

BaseClass &	operator= (const BaseClass &)=default

virtual void	setPyObject (PyObject *)

virtual	~BaseClass ()
	Destruction. More...

Protected Attributes
KDL::JntArray	Actual

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 ()

static Type	getClassTypeId ()

static void	init ()

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

References Actual, Kinematic, and Tcp.

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

◆ getAxis()

double Robot6Axis::getAxis ( int Axis )

References Actual, and RotDir.

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

◆ getMaxAngle()

double Robot6Axis::getMaxAngle ( int Axis )

References Max.

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 )

References Min.

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

◆ getTcp()

Base::Placement Robot6Axis::getTcp ( void )

References Tcp.

Referenced by Robot::RobotObject::onChanged(), Robot::RobotObject::Restore(), 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, setKinematic(), draftfunctions.split::split(), Robot::AxisDefinition::theta, and Robot::AxisDefinition::velocity.

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

◆ 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 Actual, calcTcp(), Base::XMLReader::getAttributeAsFloat(), Base::XMLReader::hasAttribute(), Kinematic, Max, Min, Base::XMLReader::readElement(), Robot::toFrame(), and Velocity.

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

◆ 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.