ThetJointsclass represents a joint position of a robot (robot axes).More...

#include <robodk_api.h>

Public Member Functions
	tJoints(int ndofs=0)
	tJoints More...

	tJoints(const double *joints, int ndofs=0)
	Set joint values given a double array and the number of joint values.More...

	tJoints(const float *joints, int ndofs=0)
	Set joint values given a float array and the number of joint values.More...

	tJoints(consttJoints&jnts)
	Create a copy of an object.More...

	tJoints(consttMatrix2D*mat2d, int column=0, int ndofs=-1)
	Create joint values given a 2D matrix and the column selecting the desired values.More...

	tJoints(const QString &str)
	Convert a string to joint values.More...

	operator QString() const
	To String operator (use with qDebug() <<tJoints;.More...

const double *	ValuesD() const
	Joint values.More...

const float *	ValuesF() const
	Joint values.More...

const double *	Values() const
	Joint values.More...

double *	Data()

int	Length() const
	Number of joint axes of the robot (or degrees of freedom)More...

void	setLength(int new_length)
	Set the length of the array (only shrinking the array is allowed)More...

bool	Valid() const
	Check if the joints are valid. For example, when we request the Inverse kinematics and there is no solution the joints will not be valid. (for example, an invalid result after calling class: IItem::SolveIK returns a non valid joints)More...

int	GetValues(double *joints)
	GetValues.More...

void	SetValues(const double *joints, int ndofs=-1)
	Set the joint values in deg or mm. You can also important provide the number of degrees of freedom (6 for a 6 axis robot).More...

void	SetValues(const float *joints, int ndofs=-1)
	Set the joint values in deg or mm (floats). You can also important provide the number of degrees of freedom (6 for a 6 axis robot).More...

QString	ToString(const QString &separator=", ", int precision=3) const
	Retrieve a string representation of the joint values.More...

bool	FromString(const QString &str)
	Set the joint values given a comma-separated string. Tabs and spaces are also allowed.More...

Public Attributes
int	_nDOFs
	number of degrees of freedomMore...

double	_Values[RDK_SIZE_JOINTS_MAX]
	乔int values (doubles, used to store the joint values)More...

float	_ValuesF[RDK_SIZE_JOINTS_MAX]
	乔int values (floats, used to return a copy as a float pointer)More...

Detailed Description

ThetJointsclass represents a joint position of a robot (robot axes).

Definition at line384of filerobodk_api.h.

Constructor & Destructor Documentation

◆tJoints()[1/6]

tJoints ( int ndofs=0 )

tJoints

Parameters

ndofs number of robot joint axes or degrees of freedom

Definition at line42of filerobodk_api.cpp.

◆tJoints()[2/6]

tJoints	(	const double *	乔ints,
		int	ndofs=`0`
	)

Set joint values given a double array and the number of joint values.

Parameters

乔ints	Pointer to the joint values
ndofs	Number of joints

Definition at line51of filerobodk_api.cpp.

◆tJoints()(3/6)

tJoints	(	const float *	乔ints,
		int	ndofs=`0`
	)

Set joint values given a float array and the number of joint values.

Parameters

乔ints	Pointer to the joint values
ndofs	Number of joints

Definition at line54of filerobodk_api.cpp.

◆tJoints()[4/6]

tJoints ( consttJoints& jnts )

Create a copy of an object.

Parameters

jnts

Definition at line48of filerobodk_api.cpp.

◆tJoints()[5/6]

tJoints	(	consttMatrix2D*	mat2d,
		int	column=`0`,
		int	ndofs=`-1`
	)

Create joint values given a 2D matrix and the column selecting the desired values.

Parameters

mat2d
column
ndofs

Definition at line62of filerobodk_api.cpp.

◆tJoints()[6/6]

tJoints ( const QString & str )

Convert a string to joint values.

Parameters

str	Comma separated joint values (spaces or tabs are also accepted)

Definition at line75of filerobodk_api.cpp.

Member Function Documentation

◆Data()

double * Data ( )

Returns: Data same as Values. The only difference is that the array pointer is not const. This is provided for backwards compatibility.

Definition at line99of filerobodk_api.cpp.

◆FromString()

bool FromString ( const QString & str )

Set the joint values given a comma-separated string. Tabs and spaces are also allowed.

Parameters

str	string. Such as "10, 20, 30, 40, 50, 60"

Returns: false if parsing the string failed. True otherwise.

Definition at line143of filerobodk_api.cpp.

◆GetValues()

int GetValues ( double * 乔ints )

GetValues.

Parameters

乔ints 乔int values in deg or mm

Returns: returns the number of degrees of freedom

Definition at line121of filerobodk_api.cpp.

◆Length()

int Length ( ) const

Number of joint axes of the robot (or degrees of freedom)

Returns

Definition at line153of filerobodk_api.cpp.

◆运营商QString ()

operator QString ( ) const

inline

To String operator (use with qDebug() <<tJoints;.

Definition at line416of filerobodk_api.h.

◆setLength()

void setLength ( int new_length )

Set the length of the array (only shrinking the array is allowed)

Definition at line157of filerobodk_api.cpp.

◆SetValues()[1/2]

void SetValues	(	const double *	乔ints,
		int	ndofs=`-1`
	)

Set the joint values in deg or mm. You can also important provide the number of degrees of freedom (6 for a 6 axis robot).

Parameters

乔ints	乔int values in deg or mm
ndofs	number of degrees of freedom (number of axes or joints)

Definition at line104of filerobodk_api.cpp.

◆SetValues()[2/2]

void SetValues	(	const float *	乔ints,
		int	ndofs=`-1`
	)

Set the joint values in deg or mm (floats). You can also important provide the number of degrees of freedom (6 for a 6 axis robot).

Parameters

乔ints	乔int values in deg or mm
ndofs	number of degrees of freedom (number of axes or joints)

Definition at line113of filerobodk_api.cpp.

◆ToString()

QString ToString	(	const QString &	separator=`", "`,
		int	precision=`3`
	)		const

Retrieve a string representation of the joint values.

Parameters

separator	String to add between consecutive joint values
precision	Number of decimals

Returns: string as a QString

Definition at line127of filerobodk_api.cpp.

◆Valid()

bool Valid ( ) const

Check if the joints are valid. For example, when we request the Inverse kinematics and there is no solution the joints will not be valid. (for example, an invalid result after calling class: IItem::SolveIK returns a non valid joints)

Returns: true if it has 1 degree of freedom or more

Definition at line163of filerobodk_api.cpp.

◆Values()

const double * Values ( ) const

Joint values.

Returns: Returns a pointer to the joint data array (doubles or floats if ROBODK_API_FLOATS is defined)

Definition at line94of filerobodk_api.cpp.

◆ValuesD()

const双*礼乐祭祀 ( ) const

Joint values.

Returns: Returns a pointer to the joint data array (doubles)

Definition at line80of filerobodk_api.cpp.

◆ValuesF()

const float * ValuesF ( ) const

Joint values.

Returns: Returns a pointer to the joint data array (floats)

Definition at line83of filerobodk_api.cpp.

Member Data Documentation

◆_nDOFs

int _nDOFs

number of degrees of freedom

Definition at line485of filerobodk_api.h.

◆_Values

double _Values[RDK_SIZE_JOINTS_MAX]

乔int values (doubles, used to store the joint values)

Definition at line488of filerobodk_api.h.

◆_ValuesF

float _ValuesF[RDK_SIZE_JOINTS_MAX]

乔int values (floats, used to return a copy as a float pointer)

Definition at line491of filerobodk_api.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆tJoints()[1/6]

◆tJoints()[2/6]

◆tJoints()(3/6)

◆tJoints()[4/6]

◆tJoints()[5/6]

◆tJoints()[6/6]

Member Function Documentation

◆Data()

◆FromString()

◆GetValues()

◆Length()

◆运营商QString ()

◆setLength()

◆SetValues()[1/2]

◆SetValues()[2/2]

◆ToString()

◆Valid()

◆Values()

◆ValuesD()

◆ValuesF()

Member Data Documentation

◆_nDOFs

◆_Values

◆_ValuesF