Represents a vector composed of motor positions (M1, M2, M3), measured in RADIANS, that defines the position or change in position of the robot arm's tip.
When interpreted as a point, the vector (0, 0, 0) generally represents the "home position" of the arm.
#import <CBDofVector.h>
Properties | |
double | m1 |
Gets motor #1's position, in radians. | |
double | m2 |
Gets motor #2's position, in radians. | |
double | m3 |
Gets motor #3's position, in radians. |
Public Member Functions | |
(id) | - initWithM1:andM2:andM3: |
Returns a CBDofVector object initialized with the specified motor positions (M1, M2, M3). | |
(double) | - componentWithIndex: |
Returns the value of the component with the given index (0, 1, or 2) | |
(CBDofVector *) | - setComponentWithIndex:toValue: |
Returns a vector with the specified component (0, 1, or 2) set to the given value. | |
(CBDofVector *) | - pointAsDofVectorForRobot: |
Interprets this vector as the position of the arm's tip, and returns its DOF (motor position) representation. | |
(NSString *) | - description |
Returns a string representation of this point. |
Static Public Member Functions | |
(CBDofVector *) | + vectorWithM1:andM2:andM3: |
Returns a vector initialized to the specified motor positions (M1, M2, M3). | |
(CBDofVector *) | + zero |
Returns a vector initialized to (0, 0, 0) |
- (CBDofVector *) pointAsDofVectorForRobot: | (CBRobot *) | robot |
Interprets this vector as the position of the arm's tip, and returns its DOF (motor position) representation.
If there is no exact conversion (i.e., the point is outside of the arm's reach), an approximation is returned instead (the closest position that is within reach).
Reimplemented from <CBVector>.
+ (CBDofVector *) vectorWithM1: | (double) | m1Pos | |
andM2: | (double) | m2Pos | |
andM3: | (double) | m3Pos | |
Returns a vector initialized to the specified motor positions (M1, M2, M3).