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DenavitHartenbergModel Class |
Denavit Hartenberg model for joints.
Inheritance HierarchySystemObject
Accord.Math.KinematicsDenavitHartenbergModel
Accord.Math.KinematicsDenavitHartenbergModel
Namespace: Accord.Math.Kinematics
Assembly: Accord.Math (in Accord.Math.dll) Version: 3.8.0
SyntaxThe DenavitHartenbergModel type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | DenavitHartenbergModel |
Initializes a new instance of the DenavitHartenbergModel
class at the origin of the space (0,0,0).
|
| DenavitHartenbergModel(Vector3) |
Initializes a new instance of the DenavitHartenbergModel
class given a specified model position in 3D space.
|
Properties| Name | Description | |
|---|---|---|
 | Joints |
Gets the model kinematic chain.
|
| Position |
Gets or sets the model position.
|
| Transform |
Gets the transformation matrix T for the full model, given
as T = T_0 * T_1 * T_2 ...T_n in which T_i is the transform
matrix for each joint in the model.
|
Methods| Name | Description | |
|---|---|---|
| Compute |
Computes the entire model, calculating the
final position for each joint in the model.
|
| Compute(DenavitHartenbergModel) |
Calculates the entire model given it is attached to a parent model and computes each joint position.
|
| Equals | Determines whether the specified object is equal to the current object. (Inherited from Object.) |
 | Finalize | Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection. (Inherited from Object.) |
| GetEnumerator |
Returns an enumerator that iterates through a collection.
|
| GetHashCode | Serves as the default hash function. (Inherited from Object.) |
| GetType | Gets the Type of the current instance. (Inherited from Object.) |
| MemberwiseClone | Creates a shallow copy of the current Object. (Inherited from Object.) |
| ToString | Returns a string that represents the current object. (Inherited from Object.) |
Extension Methods| Name | Description | |
|---|---|---|
 | HasMethod |
Checks whether an object implements a method with the given name.
(Defined by ExtensionMethods.) |
| IsEqual |
Compares two objects for equality, performing an elementwise
comparison if the elements are vectors or matrices.
(Defined by Matrix.) |
| SetEqualsDenavitHartenbergJoint |
Compares two enumerables for set equality. Two
enumerables are set equal if they contain the
same elements, but not necessarily in the same
order.
(Defined by Matrix.) |
| To(Type) | Overloaded.
Converts an object into another type, irrespective of whether
the conversion can be done at compile time or not. This can be
used to convert generic types to numeric types during runtime.
(Defined by ExtensionMethods.) |
| ToT | Overloaded.
Converts an object into another type, irrespective of whether
the conversion can be done at compile time or not. This can be
used to convert generic types to numeric types during runtime.
(Defined by ExtensionMethods.) |
RemarksThis class represents either a model itself or a submodel when used with a DenavitHartenbergModelCombinator instance.
References:
- Wikipedia contributors, "Denavit-Hartenberg parameters," Wikipedia, The Free Encyclopedia, available at: http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters
ExamplesThe following example shows the creation and animation of a 2-link planar manipulator.
// Create the DH-model at location (0, 0, 0) DenavitHartenbergModel model = new DenavitHartenbergModel(); // Add the first joint model.Joints.Add(alpha: 0, theta: Math.PI / 4, radius: 35, offset: 0); // Add the second joint model.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 35, offset: 0); // Now move the arm model.Joints[0].Parameters.Theta += Math.PI / 10; model.Joints[1].Parameters.Theta -= Math.PI / 10; // Calculate the model model.Compute();
See Also