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A representation of the robot containing the Pose and the positions of the free axes. More...
Functions | |
RobotPosition () | |
Default constructor. Initializes all values to 0. Leaves the FreeAxes RapidVector empty. | |
RobotPosition (const Cartesian::Pose &newPose, const RapidVector< double > &freeAxes) | |
Copies the new pose into this->Pose. Makes a deep copy of the given RapidVector for this->FreeAxes. | |
RobotPosition (const Cartesian::Pose &newPose, const size_t numberOfFreeAxes=0) | |
Copies the new pose into this->Pose. Specified number of free axes initialized with zeroes for their positions. | |
RobotPosition (const Cartesian::RobotPosition &otherPosition) | |
Copy constructor. Copies values of Pose and FreeAxes. | |
double | AxisValueGet (uint32_t index) const |
Gets the freeAxis value at the specified index. Returns 0 if index is out of bounds of the FreeAxes. | |
void | AxisValueSet (uint32_t index, double value) |
Sets the freeaxis value at specified index to the passed value. Does nothing if index is out of bounds of the FreeAxes. | |
Cartesian::RobotPosition | Inverse () const |
Gets the inverse of the pose and free axes. | |
Cartesian::RobotPosition | operator* (const Cartesian::Pose &otherPose) const |
multiplies this->Pose by pose. Does not modify this->FreeAxes. | |
Cartesian::RobotPosition | operator* (const Cartesian::RobotPosition &otherPosition) const |
multiplies this->Pose by otherPosition.Pose and adds otherPosition.FreeAxes to this->FreeAxes (since they are scalar). | |
Attributes | |
RapidVector< double > | FreeAxes |
The Robot's free axes. Will have elements added to it for each free axis in the robot. | |
Pose | Pose |
The Robot's Pose. | |
Definition at line 472 of file cartesianrobot.h.