This is a protocol implemented by all vector types in the library.
You cannot do arithmetic on a CBVector directly. Instead, you must first convert to a specific type of vector, using the methods of this protocol.
Currently, the only supported vector type is DOF (CBDofVector). If support for the Cartesian coordinate system is added in the future, this class will allow for conversion between point types.
#import <CBVector.h>
Public Member Functions | |
(CBDofVector *) | - pointAsDofVectorForRobot: |
Interprets this vector as the position of the arm's tip, and returns its DOF (motor position) representation. |
- (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 in CBDofVector.