Base class for all vector types in the library.
You cannot do arithmetic on a Vector directly. Instead, you must first convert to a specific type of vector, using the methods on this interface.
Currently, the only supported vector type is DOF (DofVector). If support for the Cartesian coordinate system is added in the future, this class will allow for conversion between the types.
Public Member Functions | |
abstract DofVector | ConvertToDofPoint (Robot robot) |
Interprets this vector as the position of the arm's tip, and returns its DOF (motor position) representation. | |
Vector | SetComponent (int componentIndex, double value, CoordinateSystem cs, Robot robot) |
Returns a new vector with the specified component (0 - 2) set to the given value, doing coordinate system conversion as needed. | |
double | GetComponent (int componentIndex, CoordinateSystem cs, Robot robot) |
Gets the specified vector component (0 - 2), doing coordinate system conversion as needed. | |
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).
Implemented in CBRobot.DofVector.