CBArmPosition Class Reference

Detailed Description

Represents a position of the robot arm, which is composed of a tip position plus the position of motor #4.

#import <CBArmPosition.h>

Properties
id< CBVector >	tipPosition
	Gets the position of the arm's tip (first 3 motor positions)
double	m4
	Gets the position of the fourth motor (crane, camera swivel), in radians.

Public Member Functions
(id)	- initWithTipPosition:andM4:
	Returns a CBArmPosition object initialized with the specified tip position and motor #4 position (in radians).
(id)	- initWithM1:andM2:andM3:andM4:
	Returns a CBArmPosition object initialized with the given motor positions (specified in radians).
(NSString *)	- description
	Returns a string representation of this position.

Static Public Member Functions
(CBArmPosition *)	+ armPositionWithTipPosition:andM4:
	Returns a CBArmPosition object with the specified tip position and motor #4 position (in radians).
(CBArmPosition *)	+ armPositionWithM1:andM2:andM3:andM4:
	Returns a CBArmPosition object initialized with the given motor positions (specified in radians).
(CBArmPosition *)	+ zero
	Returns a CBArmPosition object which represents the home position / zero.

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The documentation for this class was generated from the following files:

• /Users/forrestd/Documents/oDesk/Ihara/CBRobot/CBRobotMacSDK/src/CBArmPosition.m
• /Users/forrestd/Documents/oDesk/Ihara/CBRobot/CBRobotMacSDK/include/CBArmPosition.h