Data Sheet

80
ⅲ) RobotInfo.h
(1) int AddJoint (double LinkLength, double LinkTwist, double JointOffset,
double JointAngle, double MaxAngleInRad, double MinAngleInRad,
int MaxAngleValue , int MinAngleValue,
double MaxAngleLimitInRad, double MinAngleLimitInRad,
unsigned int Dynamixel_ID);
Parameter
LinkLength, LinkTwist, JointOffset, JointAngle – DH parameter
MaxAngleInRad - Maximum Angle of Actuator(not Joint Limit)
MinAngleInRad – Minimum Angle of Actuator(not Joint Limit)
MaxAngleInValue – AngleValue corresponding to the Maxangle
MinAngleInValue – AngleValie corresponding to the Minangle
MaxAngleLimitInRad – Maximum Joint Angle Limit of Actuator
MinAngleLimitInRad – Minimum Joint Angle Limit of Actuator
Return
Error Value
Description
Sets joint’s DH-Parameter and Joint-Parameter values
Error of 0 is no error and 1 when there is error.
Error happens when min value is greater than max value
(2) JointData GetJointInfo(int joint_number);
Parameter
int Joint_number
Return
JointData
Description
Returns JointData from AddJoint
(3) std::vector<JointData>* GetRobotInfo(void);
Parameter
JointData
Return
address of robotInfo
Description
Returns address values from RobotInfomation
(4) void ClearRobotInfo(void);
Parameter
void
Return
void
Description
Clears out RobotInfo
(5) veci G etArmIDList(voi d);