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
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