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java.lang.Object | +--DHSystem
A class to represent a block model in DH coordinate system
Constructor Summary | |
DHSystem(int parts)
Constructor purpose : initialize a DHSystem with number of parts |
Method Summary | |
boolean |
changeA(int frame,
double distance)
purpose : change the relative distance a of a frame |
boolean |
changeAlpha(int frame,
double angle)
purpose : change the relative angle alpha of a frame |
boolean |
changeD(int frame,
double distance)
purpose : change the relative distance d of a frame |
boolean |
changeTheta(int frame,
double angle)
purpose : change the relative angle theta of a frame |
double |
getA(int frame)
purpose : get the relative distance a of a frame |
double |
getAlpha(int frame)
purpose : get the relative angle alpha of a frame |
double |
getD(int frame)
purpose : get the relative distance d of a frame |
Vector3D |
getFramePosition(int frame)
purpose : get the position of the origin of a frame |
double |
getTheta(int frame)
purpose : get the relative angle theta of a frame |
Matrix |
getTransformation(int frame)
purpose : get the overall transformational matrix of a frame |
boolean |
reset(int frame)
purpose : reset all relative DH coordinates of a frame |
boolean |
setDH(int frame,
double alpha,
double a,
double theta,
double d,
int baseOn)
purpose : set all DH parameters of a frame |
Methods inherited from class java.lang.Object |
clone,
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
Constructor Detail |
public DHSystem(int parts)
parts
- total number of parts or blocksMethod Detail |
public boolean setDH(int frame, double alpha, double a, double theta, double d, int baseOn)
frame
- frame numberalpha
- rotation about x-axisa
- translation along x-axistheta
- rotation about z-axisd
- translation along z-zxisbaseOn
- reference framepublic boolean reset(int frame)
frame
- frame numberpublic double getAlpha(int frame)
public double getA(int frame)
public double getTheta(int frame)
public double getD(int frame)
public boolean changeAlpha(int frame, double angle)
frame
- frame numberangle
- new angle alphapublic boolean changeA(int frame, double distance)
frame
- frame numberdistance
- new distance apublic boolean changeTheta(int frame, double angle)
frame
- frame numberangle
- new angle thetapublic boolean changeD(int frame, double distance)
frame
- frame numberdistance
- new distance dpublic Matrix getTransformation(int frame)
frame
- frame numberpublic Vector3D getFramePosition(int frame)
frame
- frame number
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