- java.lang.Object
- com.anylogic.libraries.material_handling.RobotKinematic
- All Implemented Interfaces:
Serializable
@AnyLogicInternalAPI public class RobotKinematic extends Object implements Serializable
This class is internal and shouldn't be called by user.
it may be removed/renamed in future.
it may be removed/renamed in future.
- Author:
- AnyLogic North America, LLC https://anylogic.com
- See Also:
- Serialized Form
| Constructor | Description |
|---|---|
RobotKinematic | |
RobotKinematic |
| Modifier and Type | Method | Description |
|---|---|---|
double | getEndEffectorLength() | |
double[] | getRotations |
Returns rotations of linkIndex link in absolute coordinates.
|
double[] | getXYZ |
Returns coordinates of linkIndex link in absolute coordinates.
|
void | setEndEffectorLength | |
void | setToPoint |
Sets end point of the kinematic to provided point with direction along the direction vector
If provided target/direction is unreachable, kinematic will enter invalid state (isIncalid() will return true)
|
public RobotKinematic(double... linkLengths)
public RobotKinematic(RobotKinematic kinematic)
public double[] getXYZ(int linkIndex)
Returns coordinates of linkIndex link in absolute coordinates.
For linkIndex == 6 returns coordinates of the end effector
For linkIndex == 7 returns coordinates of the end of the end effector (working point)
- Parameters:
linkIndex- link index, within [0,7]- Returns:
- coordinates of the link in absolute coordinates
public double[] getRotations(int linkIndex)
Returns rotations of linkIndex link in absolute coordinates.
- Parameters:
linkIndex- link index, within [0,5]- Returns:
- rotations of the link in absolute coordinates
public void setToPoint(Point target, Point direction)
Sets end point of the kinematic to provided point with direction along the direction vector
If provided target/direction is unreachable, kinematic will enter invalid state (isIncalid() will return true)
- Parameters:
target- - relative end point targetdirection- - relative end point direction - (dx, dy, dz)
public void setEndEffectorLength(double length)
public double getEndEffectorLength()