This PR proposes new methods to fix the bug #76

[juanjqo]

@dqrobotics/developers

Hi @bvadorno,

This PR proposes the following modifications to fix #76 :

• Removed the public property type from subclasses DQ_SerialManipulatorDH and DQ_SerialManipulatorMDH. Added the protected property joint_types in DQ_SerialManipulator. Motivations:
  • The joint types do not depend on any specific parametrization. Therefore, obj.joint_types is a property common to all subclasses, like obj.n_joints.
  • Since we now have the method set_joint_types (and get_joint_types, both added in this PR) there is no need to keep the property public. (Currently, the user can freely get and set the property obj.type.
• The following methods were added in DQ_SerialManipulator:
  • get_supported_joint_types() (protected, abstract)
  • check_joint_types() (public)
  • get_joint_types() (public) (returns the joint types as a vector)
  • get_joint_type(ith) (public) (returns only the ith joint type as a double)
  • set_joint_types() (public) (sets all joints)
  • set_joint_type(ith) (public) (sets only the ith joint)

UML:

Example of use:
Minimal example used in #76

clear all;
clc;
close all;

ax18_DH_theta   = [0       0      -pi/2   -pi/2      -pi/2];  % theta
ax18_DH_d       = [0.167   0       0     0.1225          0];  % d
ax18_DH_a       = [0      0.159    0.02225    0      0.170];  % a
ax18_DH_alpha   = [-pi/2   0      -pi/2   -pi/2          0];  % alpha

R = double(DQ_JointType.REVOLUTE);
P = double(DQ_JointType.PRISMATIC);
H = double(DQ_JointType.HELICAL);
S = double(DQ_JointType.SPHERICAL);
C = double(DQ_JointType.CYLINDRICAL);
Pl = double(DQ_JointType.PLANAR);
SD = double(DQ_JointType.SIX_DOF);

ax18_DH_type    = [SD P H S C];


ax18_DH_matrix = [  ax18_DH_theta;
    ax18_DH_d;
    ax18_DH_a;
    ax18_DH_alpha;
    ax18_DH_type;
    ]; % D&H parameters matrix for the arm model

ax = DQ_SerialManipulatorDH(ax18_DH_matrix)

Output:

Error using DQ_SerialManipulator/check_joint_types
Unsupported joint types. Use valid joint types:  DQ_JointType.REVOLUTE,
DQ_JointType.PRISMATIC.

Error in DQ_SerialManipulator/set_joint_types (line 146)
            obj.check_joint_types();

Error in DQ_SerialManipulatorDH (line 196)
            obj.set_joint_types(A(5,:));

Error in untitled2 (line 30)
ax = DQ_SerialManipulatorDH(ax18_DH_matrix)

Best regards,

Juancho

[bvadorno]

Hi @juanjqo,

I noticed that you modified the CONTRIBUTING.md file, but I'm not sure what the modifications are concerning the version currently in the MASTER repository. Please clarify.

Best,
Bruno

[bvadorno]

Hi @juanjqo,

I noticed that you modified the CONTRIBUTING.md file, but I'm not sure what the modifications are concerning the version currently in the MASTER repository. Please clarify.

Best, Bruno

I guess I understand what happened. After I rebased pull request #75, the commit messages of this pull request of yours got in the way. Somehow, the diff tool might not be working properly. Two clues make me believe that. First, this pull request still has the commit messages from before the rebasing. Second, it indicates that you want to add the DQ_JointType class and the CONTRIBUTING.md file, but you already did this.

I'm going to reject this pull request. Then, update your branch and open a new pull request.

Thanks,
Bruno