KinematicModelBuilder

The abstract class for Kinematic Model builders. Constructs a single Kinematic Model to use when creating a Robot. KinematicModelBuilder instances will retain a reference to the constructed model until the instance is destroyed. Concrete subclasses will provide methods for adding axes and configuring the model. More...

Functions
void	FreeAxisAdd (const ModelAxisMapping &freeAxis)
	Map a free-axis in the kinematic model.
const char *const	LabelGet () const
	Get the label the model builder is configured to have.
void	LabelSet (const char *const label)
	Set the model name.
const KinematicModel &	ModelBuild ()=0
	Construct the model using the information the builder currently has. The builder will maintain a reference to the constructed model until the builder is destroyed. Subsequent calls to BuildModel will overwrite the model the builder has a reference to and the previous model will be destroyed.
const KinematicModel &	ModelGet ()
	Get a constant reference to the Kinematic model that is currently built. The builder instance maintains the model in its memory until it is destroyed. If no model was built, attempts to build the model with ModelBuild().
Pose	TransformFromKinematicOriginToRobotOriginGet () const
	Get the Pose representing the transform from the kinematic origin to the robot origin.
void	TransformFromKinematicOriginToRobotOriginSet (const Pose &KinematicOriginToRobotOrigin)
	Set the kin origin to robot origin tf.
LinearUnits	UnitsGet () const
	Get the units that the model builder is currently configured to use.
void	UnitsSet (LinearUnits units)
	Set the units the built model will use.

Protected Member Functions
	KinematicModelBuilder (const char *const label)
	The KinematicModelBuilder constructor is protected so that only derived classes can use it. Users should only use classes derived from KinematicModelBuilder. When using a KinematicModelBuilder, users must specify the type of units the model will use as well as a label to refert to the model with.

Description

Definition at line 712 of file cartesianrobot.h.