Class DHSystem

java.lang.Object
  |
  +--DHSystem
Direct Known Subclasses:
CRSPlusA150

public class DHSystem
extends java.lang.Object

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

DHSystem

public DHSystem(int parts)
Constructor purpose : initialize a DHSystem with number of parts
Parameters:
parts - total number of parts or blocks
Method Detail

setDH

public boolean setDH(int frame,
                     double alpha,
                     double a,
                     double theta,
                     double d,
                     int baseOn)
purpose : set all DH parameters of a frame
Parameters:
frame - frame number
alpha - rotation about x-axis
a - translation along x-axis
theta - rotation about z-axis
d - translation along z-zxis
baseOn - reference frame
Returns:
true (succeed) or false (fail)

reset

public boolean reset(int frame)
purpose : reset all relative DH coordinates of a frame
Parameters:
frame - frame number
Returns:
true (succeed) or false (fail)

getAlpha

public double getAlpha(int frame)
purpose : get the relative angle alpha of a frame
Returns:
relative angle alpha of the frame

getA

public double getA(int frame)
purpose : get the relative distance a of a frame
Returns:
relative distance a of a frame

getTheta

public double getTheta(int frame)
purpose : get the relative angle theta of a frame
Returns:
relative angle theta of a frame

getD

public double getD(int frame)
purpose : get the relative distance d of a frame
Returns:
relative distance d of a frame

changeAlpha

public boolean changeAlpha(int frame,
                           double angle)
purpose : change the relative angle alpha of a frame
Parameters:
frame - frame number
angle - new angle alpha
Returns:
true (succeed) or false (fail)

changeA

public boolean changeA(int frame,
                       double distance)
purpose : change the relative distance a of a frame
Parameters:
frame - frame number
distance - new distance a
Returns:
true (succeed) or false (fail)

changeTheta

public boolean changeTheta(int frame,
                           double angle)
purpose : change the relative angle theta of a frame
Parameters:
frame - frame number
angle - new angle theta
Returns:
true (succeed) or false (fail)

changeD

public boolean changeD(int frame,
                       double distance)
purpose : change the relative distance d of a frame
Parameters:
frame - frame number
distance - new distance d
Returns:
true (succeed) or false (fail)

getTransformation

public Matrix getTransformation(int frame)
purpose : get the overall transformational matrix of a frame
Parameters:
frame - frame number
Returns:
overall transformational matrix of a frame

getFramePosition

public Vector3D getFramePosition(int frame)
purpose : get the position of the origin of a frame
Parameters:
frame - frame number
Returns:
position of the origin of the frame