KinematicModelBuilder

The abstract class for Kinematic Model builders. Constructs a single Kinematic Model to use when creating a Robot. KinematicModelBuilder instances will retain a reference to the constructed model until the instance is destroyed. Concrete subclasses will provide methods for adding axes and configuring the model. More...

Functions
void	FreeAxisAdd (const ModelAxisMapping &freeAxis)
	Map a free axis in the kinematic model. The Axis' DefaultVelocity/Acceleration will be used for free axis trajectory calculations. If a free axis is added to a Cartesian path motion, its DefaultVelocity/Acceleration will NOT be used.
const char *const	LabelGet () const
	Get the label the model builder is configured to have.
void	LabelSet (const char *const label)
	Set the model name.
const KinematicModel &	ModelBuild ()=0
	Construct the model using the information the builder currently has. The builder will maintain a reference to the constructed model until the builder is destroyed. Subsequent calls to BuildModel will overwrite the model the builder has a reference to and the previous model will be destroyed.
const KinematicModel &	ModelGet ()
	Get a constant reference to the Kinematic model that is currently built. The builder instance maintains the model in its memory until it is destroyed. If no model was built, attempts to build the model with ModelBuild().
RotationalUnits	RotationalUnitsGet () const
	Get the rotational/angular units that the model builder is currently configured to use.
void	RotationalUnitsSet (RotationalUnits units)
	Set the rotational/angular units the built model will use.
Pose	TransformFromKinematicOriginToRobotOriginGet () const
	Get the Pose representing the transform from the kinematic origin to the robot origin.
void	TransformFromKinematicOriginToRobotOriginSet (const Pose &KinematicOriginToRobotOrigin)
	Set the kin origin to robot origin tf.
LinearUnits	UnitsGet () const
	Get the units that the model builder is currently configured to use.
void	UnitsSet (LinearUnits units)
	Set the units the built model will use.

Protected Member Functions
	KinematicModelBuilder (Storage *storage)
	The KinematicModelBuilder constructor is protected so that only derived classes can use it. Users should only use classes derived from KinematicModelBuilder. The derived class creates the storage object.

Description

Definition at line 575 of file cartesianrobot.h.