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.
Properties | |
double | M1 [get] |
Gets motor #1's position, in radians. | |
double | M2 [get] |
Gets motor #2's position, in radians. | |
double | M3 [get] |
Gets motor #3's position, in radians. | |
static DofVector | Zero [get] |
Returns the DOF vector (0, 0, 0) | |
Public Member Functions | |
DofVector (double m1, double m2, double m3) | |
Creates a new DofVector with the specified motor positions (M1, M2, M3). | |
double | GetComponent (int componentIndex) |
Returns the value of the component with the given index (0, 1, or 2) | |
DofVector | SetComponent (int componentIndex, double value) |
Returns a new vector with the specified component (0, 1, or 2) set to the given value. | |
override DofVector | ConvertToDofPoint (Robot robot) |
Interprets this vector as the position of the arm's tip, and returns its DOF (motor position) representation. | |
override string | ToString () |
Returns a string representation of this point. | |
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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).
Implements CBRobot.Vector.