rci::JointAngles Class Reference

Domain object, representing Joint Angles. More...

#include <JointAngles.h>

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List of all members.

Public Member Functions

 JointAngles ()
 JointAngles (double value)
 JointAngles (const nemo::RealVector &values)
 JointAngles (const JointAngles &)
JointAnglesPtr operator[] (unsigned int index)
virtual double asDouble (unsigned int index, bool norm=false) const
 Returns single joint value in default representation ($rad$).
virtual double rad (unsigned int index=0, bool norm=false) const
 Returns single joint value in $rad$.
virtual nemo::RealVector radVector (bool norm=false) const
 Returns vector of joint values in $rad$.
virtual double deg (unsigned int index=0, bool norm=false) const
 Returns single joint value in degree.
virtual nemo::RealVector degVector (bool norm=false) const
 Returns vector of joint values in degree.
virtual nemo::RealVector asDoubleVector (bool norm=false) const
 Returns single joint value.
virtual void setFromRad (unsigned int index, double value)
 Set the values of this JointAngle object (in $rad$).
virtual void setFromRad (const nemo::RealVector &values)
virtual void setFromDeg (unsigned int index, double value)
 Set the values of this JointAngle object (in degree).
virtual void setFromDeg (const nemo::RealVector &values)
void normalize ()
 Normalization of all values to interval $[0,2\pi[$.
virtual std::string print () const
 Print function.

Static Public Member Functions

static JointAnglesPtr create (unsigned int dimension, double value=0.0)
 Create blank JointAnglesPtr with given dimension (and optionally fill it with the given value, otherwise filled with zeros).
static JointAnglesPtr copy (const JointAngles &)
 Create JointAngles from a JointAngles object (deep copy).
static JointAnglesPtr fromRad (const nemo::RealVector &values)
 Create JointAngles from a vector of radian values.
static JointAnglesPtr fromRad (double value)
static JointAnglesPtr fromDeg (const nemo::RealVector &values)
 Create JointAngles from a vector of degree values.
static JointAnglesPtr fromDeg (double value)
static JointAnglesPtr fromValue (double value)
 Factory.

Detailed Description

Domain object, representing Joint Angles.

Default representatin is in radian ($rad$), according to the International System of Units (SI).

Definition at line 52 of file JointAngles.h.

Constructor & Destructor Documentation

rci::JointAngles::JointAngles (  ) 

Definition at line 36 of file JointAngles.cpp.

Referenced by copy(), fromRad(), fromValue(), and operator[]().

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rci::JointAngles::JointAngles ( double  value  ) 

Definition at line 40 of file JointAngles.cpp.

rci::JointAngles::JointAngles ( const nemo::RealVector &  values  ) 
rci::JointAngles::JointAngles ( const JointAngles &  values  ) 

Definition at line 48 of file JointAngles.cpp.

Member Function Documentation

double rci::JointAngles::asDouble ( unsigned int  index,
bool  norm = false 
) const [virtual]

Returns single joint value in default representation ($rad$).

Parameters:
index Index of the joint value
normalize Normalization of angle to interval $[0,2\pi[$
Returns:
Joint angle

Definition at line 52 of file JointAngles.cpp.

Referenced by deg(), print(), and rad().

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nemo::RealVector rci::JointAngles::asDoubleVector ( bool  norm = false  )  const [virtual]

Returns single joint value.

Parameters:
index Index of the joint value
normalize Normalization of angle to interval $[0,2\pi[$
Returns:
Joint angles as vector

Definition at line 79 of file JointAngles.cpp.

Referenced by degVector(), and radVector().

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JointAnglesPtr rci::JointAngles::copy ( const JointAngles &  angles  )  [static]

Create JointAngles from a JointAngles object (deep copy).

Parameters:
JointAngles object

Definition at line 145 of file JointAngles.cpp.

References JointAngles().

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JointAnglesPtr rci::JointAngles::create ( unsigned int  dimension,
double  value = 0.0 
) [static]

Create blank JointAnglesPtr with given dimension (and optionally fill it with the given value, otherwise filled with zeros).

Parameters:
dimension Dimension of the JointAngles DTo to create
value Value to fill each end every field of the DTO (value in default representation - $rad$)

Definition at line 92 of file JointAngles.cpp.

References fromRad().

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double rci::JointAngles::deg ( unsigned int  index = 0,
bool  norm = false 
) const [virtual]

Returns single joint value in degree.

Parameters:
index Index of the joint value
normalize Normalization of angle to interval $[0,360[$
Returns:
Joint angles

Definition at line 71 of file JointAngles.cpp.

References asDouble().

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nemo::RealVector rci::JointAngles::degVector ( bool  norm = false  )  const [virtual]

Returns vector of joint values in degree.

Parameters:
normalize Normalization of angle to interval $[0,360[$
Returns:
Joint angles

Definition at line 75 of file JointAngles.cpp.

References asDoubleVector().

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JointAnglesPtr rci::JointAngles::fromDeg ( double  value  )  [static]

Definition at line 161 of file JointAngles.cpp.

References fromValue().

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JointAnglesPtr rci::JointAngles::fromDeg ( const nemo::RealVector &  values  )  [static]

Create JointAngles from a vector of degree values.

Parameters:
values Vector of values in degree

Definition at line 157 of file JointAngles.cpp.

References fromRad().

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JointAnglesPtr rci::JointAngles::fromRad ( double  value  )  [static]

Definition at line 153 of file JointAngles.cpp.

References fromValue().

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JointAnglesPtr rci::JointAngles::fromRad ( const nemo::RealVector &  values  )  [static]

Create JointAngles from a vector of radian values.

Parameters:
values Vector of values in radian

Definition at line 149 of file JointAngles.cpp.

References JointAngles().

Referenced by create(), and fromDeg().

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JointAnglesPtr rci::JointAngles::fromValue ( double  value  )  [static]

Factory.

Definition at line 186 of file JointAngles.cpp.

References JointAngles().

Referenced by fromDeg(), and fromRad().

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void rci::JointAngles::normalize (  ) 

Normalization of all values to interval $[0,2\pi[$.

Definition at line 165 of file JointAngles.cpp.

JointAnglesPtr rci::JointAngles::operator[] ( unsigned int  index  )  [inline]

Definition at line 60 of file JointAngles.h.

References JointAngles(), and rad().

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std::string rci::JointAngles::print (  )  const [virtual]

Print function.

Reimplemented from rci::JointValues.

Definition at line 172 of file JointAngles.cpp.

References asDouble().

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double rci::JointAngles::rad ( unsigned int  index = 0,
bool  norm = false 
) const [virtual]

Returns single joint value in $rad$.

Parameters:
index Index of the joint value
normalize Normalization of angle to interval $[0,2\pi[$
Returns:
Joint angle (rad)

Definition at line 63 of file JointAngles.cpp.

References asDouble().

Referenced by operator[]().

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nemo::RealVector rci::JointAngles::radVector ( bool  norm = false  )  const [virtual]

Returns vector of joint values in $rad$.

Parameters:
normalize Normalization of angle to interval $[0,2\pi[$
Returns:
Joint angles

Definition at line 67 of file JointAngles.cpp.

References asDoubleVector().

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virtual void rci::JointAngles::setFromDeg ( const nemo::RealVector &  values  )  [virtual]
void rci::JointAngles::setFromDeg ( unsigned int  index,
double  value 
) [virtual]

Set the values of this JointAngle object (in degree).

Parameters:
index 
value 

Definition at line 121 of file JointAngles.cpp.

virtual void rci::JointAngles::setFromRad ( const nemo::RealVector &  values  )  [virtual]
void rci::JointAngles::setFromRad ( unsigned int  index,
double  value 
) [virtual]

Set the values of this JointAngle object (in $rad$).

Parameters:
index 
value 

Definition at line 97 of file JointAngles.cpp.

The documentation for this class was generated from the following files:
Generated on Thu Aug 2 14:03:04 2012 for RCI by  doxygen 1.6.3