DenavitHartenbergNode Class

Denavit Hartenberg Model Combinator class to make combination of models to create a complex model composed of multiple chains.

Inheritance Hierarchy

SystemObject
Accord.Math.KinematicsDenavitHartenbergNode

Namespace: Accord.Math.Kinematics
Assembly: Accord.Math (in Accord.Math.dll) Version: 3.8.0

Syntax

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[SerializableAttribute]
public class DenavitHartenbergNode

<SerializableAttribute>
Public Class DenavitHartenbergNode

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The DenavitHartenbergNode type exposes the following members.

Constructors

	Name	Description
	DenavitHartenbergNode	Initializes a new instance of the DenavitHartenbergNode class.

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Properties

	Name	Description
	Children	Gets the collection of models attached to this node.
	Model	Gets the model contained at this node.
	Parent	Gets the parent of this node.

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Methods

	Name	Description
	Compute	Calculates the whole combined model (this model plus all its children plus all the children of the children and so on)
	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.)
	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.)

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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.)
	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.)

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Examples

The following example shows the creation and animation of a 2-link planar manipulator with a dual 2-link planar gripper.

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// Create the DH-model at (0, 0, 0) location
   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);

   // Create the top finger
   DenavitHartenbergModel model_tgripper = new DenavitHartenbergModel();
   model_tgripper.Joints.Add(alpha: 0, theta:  Math.PI / 4, radius: 20, offset: 0);
   model_tgripper.Joints.Add(alpha: 0, theta: -Math.PI / 3, radius: 20, offset: 0);

   // Create the bottom finger
   DenavitHartenbergModel model_bgripper = new DenavitHartenbergModel();
   model_bgripper.Joints.Add(0, -Math.PI / 4, 20, 0);
   model_bgripper.Joints.Add(0,  Math.PI / 3, 20, 0);

   // Create the model combinator from the parent model
   DenavitHartenbergModelCombinator arm = new DenavitHartenbergModelCombinator(model);

   // Add the top finger
   arm.Children.Add(model_tgripper);

   // Add the bottom finger
   arm.Children.Add(model_bgripper);

   // Calculate the whole model (parent model + children models)
   arm.Compute();

Reference

Accord.Math.Kinematics Namespace