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This PR adds the get link transformation method in the serial manipulator classes #116

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This PR adds the get link transformation method in the serial manipulator classes #116

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c7a7885
[DQ_SerialManipulator.m] Add abstract method 'get_link_transformation()'
ffasilva Jun 20, 2025
ba021a4
[DQ_SerialManipulatorDH.m] Override abstract method 'get_link_transfo…
ffasilva Jun 20, 2025
d8790c9
[DQ_SerialManipulatorMDH.m] Override abstract method 'get_link_transf…
ffasilva Jun 20, 2025
365aa23
[DQ_SerialManipulatorMDH.m] Fix minor typo in the description of the …
ffasilva Jun 20, 2025
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5 changes: 5 additions & 0 deletions robot_modeling/DQ_SerialManipulator.m
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,11 @@
st = get_supported_joint_types();
end

methods (Abstract)
% This method returns the corresponding dual quaternion for a given link's parameters.
get_link_transformation(q, ith);
end

methods (Access = protected)
function check_joint_types(obj)
% CHECK_JOINT_TYPES() throws an exception if the joint types
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16 changes: 16 additions & 0 deletions robot_modeling/DQ_SerialManipulatorDH.m
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Expand Up @@ -203,6 +203,22 @@
obj.set_joint_types(A(5,:));
end

function x = get_link_transformation(obj, q, ith)
% This method exposes the protected method get_link2dq(),
% which calculates the corresponding dual quaternion for a
% given link's DH parameters.
% Usage:
% get_link_transformation(q, ith)
% q: The joint value.
% ith: The link number.
%
% Example:
% robot = KukaLwr4Robot.kinematics();
% x = robot.get_link_transformation(pi/2, 3);

x = get_link2dq(obj, q, ith);
end

function ret = get_parameters(obj, parameterType)
% This method returns a vector containing the DH parameters.
% Usage: get_parameters(parameterType)
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16 changes: 16 additions & 0 deletions robot_modeling/DQ_SerialManipulatorMDH.m
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Expand Up @@ -198,6 +198,22 @@
obj.set_joint_types(A(5,:));
end

function x = get_link_transformation(obj, q, ith)
% This method exposes the protected method get_link2dq(),
% which calculates the corresponding dual quaternion for a
% given link's MDH parameters.
% Usage:
% get_link_transformation(q, ith)
% q: The joint value.
% ith: The link number.
%
% Example:
% robot = ComauSmartSixRobot.kinematics();
% x = robot.get_link_transformation(pi/2, 3);

x = get_link2dq(obj, q, ith);
end

function ret = get_parameters(obj, parameterType)
% This method returns a vector containing the DH parameters.
% Usage: get_parameters(parameterType)
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