class scaraElbow

a SCARA joint module with three joints.

Inheritance:

Inherited from jointModule:

Inherited from dofModule:

Public Fields

ptrList joints

Public Methods

virtual double maxVel(joint* jt, int dof) const

virtual double maxTorque(joint* jt, int dof, int isBraking) const

virtual double contTorque(joint* jt, int dof) const

virtual double power(joint* jt, int dof) const

virtual int isPassive(joint* jt, int dof) const

inline int numJoints(void) const

inline joint* getJoint(int i)

Inherited from module:

Public Fields

static int currentID

static const tmatrix connectionRotation

configuration* cfg

int ref

char* name

bool isPrototype

handedness whichSide

module* parent

assembly* as

ptrList* params

ptrList* attachments

cptrList* components

const componentContext* context

Public Methods

Virtual methods.

convenience functions

inline const ptrList* getDependencies(int whichParam)

Public Members

enum subType

enum handedness

Protected Methods

void assignConnectorIDs(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

a SCARA joint module with three joints. parameters:

• 0 - motor selection (joint 0)
• 1 - gearbox selection (joint 0)
• 2 - motor selection (joint 1)
• 3 - gearbox selection (joint 1)
• 4 - motor selection (joint 2)
• 5 - gearbox selection (joint 2)
• 6 - material selection (integer)
• 7 - joint-to-joint length
• 8 - link 0 OD
• 9 - link 0 wall thickness
• 10 - link 1 OD
• 11 - link 1 wall thickness
• 12 - inverted final joint? (only least significant bit used)

Direct child classes:

scaraElbow2

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