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ArmUtil Class Reference #include <ArmUtil.h> List of all members. Detailed Description Class containing common utility functions. provides functionality such as converting from joint angles to encoder values, conversion between joints and operational coordinates, print functionality etc. Public Methods   ArmUtil ()   Constructor using default parameters.   ArmUtil (double l1, double l2, double l3, double *e_2_d, int *zero_Enc)   Constructor with specificed parameters. double  radToDeg (double rad)   radian to degree conversion double  degToRad (double deg)   degree to radian conversion double  mod2Pi (double deg)   remainder when a number is divided by 360 degrees jointAnglesType  opToJoint (opCoordinatesType o)   Operational co-ordinate to joint co-ordinates conversion. opCoordinatesType  jointToOp (jointAnglesType j)   degree to encoder value conversion int  degToEnc (int m, double deg)   encoder to degree value conversion double  encToDeg (int m, int motPos) void  printJointAngles (jointAnglesType j)   Print joint angles. void  printOpCoordinates (opCoordinatesType o)   Print operational coordinates. void  printMotorLoad (motorLoadType m)   Print motor load. void  printArmData (armDataType arm)   Print arm data. bool  jointLimitCheck (int i, double deg)   check if a particular joint angle can be reached bool  jointLimitCheck (jointAnglesType j)   checking if a particular joint angle configuration can be reached double  processAngle (int m, double x) Public Attributes double  L1   Arm length joining joint 1 and joint 2. double  L2   Arm length joining joint 2 and joint 3. double  L3   Arm length joining joint 3 and joint 4. double  e2d [6]   An array containing encoder to degree map for each motor. int  zeroEnc [6]   An array containing encoder offset for 0 degree for each motor. Constructor & Destructor Documentation ArmUtil::ArmUtil (    )    Constructor using default parameters. ArmUtil::ArmUtil (  double    l1, double    l2, double    l3, double *    e_2_d, int *    zero_Enc )    Constructor with specificed parameters. Parameters: l1  Arm length joining joint 1 and joint 2. l2  Arm length joining joint 2 and joint 3. l3  Arm length joining joint 3 and joint 4. e_2_d  pointer to an array of size 6 containing encoder to degrees map for each motors. zero_Enc  pointer to an array of size 6 containing encoder offset for 0 degrees for each motors. Member Function Documentation double ArmUtil::radToDeg (  double    rad )    radian to degree conversion double ArmUtil::degToRad (  double    deg )    degree to radian conversion double ArmUtil::mod2Pi (  double    deg )    remainder when a number is divided by 360 degrees Parameters: deg  value in degrees Returns : value between -180 to 180 degrees jointAnglesType ArmUtil::opToJoint (  opCoordinatesType    o )    Operational co-ordinate to joint co-ordinates conversion. Parameters: o  an instance of structure opCoordinatesType containing operational coordinates Returns : an instance of structure jointAnglesType containing corresponding joint coordinates\ opCoordinatesType ArmUtil::jointToOp (  jointAnglesType    j )    degree to encoder value conversion Parameters: j  an instance of structure jointAnglesType containing joint angles Returns : an instance of structure opCoordinatesType containing corresponding operational coordinates int ArmUtil::degToEnc (  int    m, double    deg )    encoder to degree value conversion Parameters: m  joint (or motor) number, can take values from 0 to 5 deg  joint angle in degrees double ArmUtil::encToDeg (  int    m, int    motPos )    Parameters: m  joint (or motor) number, can take values from 0 to 5 motPos  motor position in encoder units void ArmUtil::printJointAngles (  jointAnglesType    j )    Print joint angles. void ArmUtil::printOpCoordinates (  opCoordinatesType    o )    Print operational coordinates. void ArmUtil::printMotorLoad (  motorLoadType    m )    Print motor load. void ArmUtil::printArmData (  armDataType    arm )    Print arm data. bool ArmUtil::jointLimitCheck (  int    i, double    deg )    check if a particular joint angle can be reached Parameters: i  joint number deg  joint angle in degree bool ArmUtil::jointLimitCheck (  jointAnglesType    j )    checking if a particular joint angle configuration can be reached Returns : true only when all joint angles can be reached double ArmUtil::processAngle (  int    m, double    x )  Member Data Documentation double ArmUtil::L1   Arm length joining joint 1 and joint 2. double ArmUtil::L2   Arm length joining joint 2 and joint 3. double ArmUtil::L3   Arm length joining joint 3 and joint 4. double ArmUtil::e2d[6]   An array containing encoder to degree map for each motor. int ArmUtil::zeroEnc[6]   An array containing encoder offset for 0 degree for each motor. The documentation for this class was generated from the following files: ArmUtil.h ArmUtil.cpp