[SerializableAttribute] public class DenavitHartenbergModel : IEnumerable
<SerializableAttribute> Public Class DenavitHartenbergModel Implements IEnumerable
Thetype exposes the following members.
Initializes a new instance of theclass at the origin of the space (0,0,0).
Initializes a new instance of theclass given a specified model position in 3D space.
Gets the model kinematic chain.
Gets or sets the model position.
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.
Computes the entire model, calculating the final position for each joint in the model.
Calculates the entire model given it is attached to a parent model and computes each joint position.
Determines whether the specified object is equal to the current object.(Inherited from .)
Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection.(Inherited from .)
Returns an enumerator that iterates through a collection.
Serves as the default hash function.(Inherited from .)
Gets the(Inherited from of the current instance. .)
Creates a shallow copy of the current(Inherited from . .)
Returns a string that represents the current object.(Inherited from .)
Checks whether an object implements a method with the given name.(Defined by ExtensionMethods.)
Compares two objects for equality, performing an elementwise comparison if the elements are vectors or matrices.(Defined by Matrix.)
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.)
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.)
This class represents either a model itself or a submodel when used with a DenavitHartenbergModelCombinator instance.
The 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.Parameters.Theta += Math.PI / 10; model.Joints.Parameters.Theta -= Math.PI / 10; // Calculate the model model.Compute();