Represents a position of the robot arm, which is composed of a tip position plus the position of motor #4.
#import <CBArmPosition.h>
Properties | |
id< CBVector > | tipPosition |
Gets the position of the arm's tip (first 3 motor positions) | |
double | m4 |
Gets the position of the fourth motor (crane, camera swivel), in radians. |
Public Member Functions | |
(id) | - initWithTipPosition:andM4: |
Returns a CBArmPosition object initialized with the specified tip position and motor #4 position (in radians). | |
(id) | - initWithM1:andM2:andM3:andM4: |
Returns a CBArmPosition object initialized with the given motor positions (specified in radians). | |
(NSString *) | - description |
Returns a string representation of this position. |
Static Public Member Functions | |
(CBArmPosition *) | + armPositionWithTipPosition:andM4: |
Returns a CBArmPosition object with the specified tip position and motor #4 position (in radians). | |
(CBArmPosition *) | + armPositionWithM1:andM2:andM3:andM4: |
Returns a CBArmPosition object initialized with the given motor positions (specified in radians). | |
(CBArmPosition *) | + zero |
Returns a CBArmPosition object which represents the home position / zero. |