Robot

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Link.h

00001 //
00002 // Created by m007 on 27/06/2020.
00003 //
00004 
00005 #ifndef UNTITLED_LINK_H
00006 #define UNTITLED_LINK_H
00007 #include "Vector.h"
00008 #include "Matrix.h"
00009 
00010 class Link {
00011 public:
00012     enum Links_Type {REVOLUTION, LINEAR};
00013     Link();
00014     float ReturnLenght();
00015 
00016 //private:
00017     friend class Robot;
00018     Matrix<float> Inertia_tensor;
00019     Vector<float> Cent_Gravity;
00020     enum Links_Type Type;
00021     float theta;
00022     float alpha;
00023     float d;
00024     float a;
00025     Matrix<float> A0;
00026 
00027     float Lenght;
00028     float Mass;
00029     float Tau;
00030 
00031     Vector<float> w;
00032     Vector<float> wd;
00033     Vector<float> vd;
00034     Vector<float> acc;
00035     Vector<float> f;
00036     Vector<float> M;
00037 
00038 
00039 };
00040 
00041 
00042 #endif //UNTITLED_LINK_H