This PR implements setter and getters methods for the DH parameters

include/dqrobotics/robot_modeling/DQ_ParameterDH.h

@@ -0,0 +1,101 @@
+/**
+(C) Copyright 2011-2025 DQ Robotics Developers
+
+This file is part of DQ Robotics.
+
+    DQ Robotics is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    DQ Robotics is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+
+Contributors:
+1. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
+    - Responsible for the original implementation.
+*/
+
+#include <unordered_map>
+#include <iostream>
+#pragma once
+
+namespace DQ_robotics
+{
+class DQ_ParameterDH
+{
+public:
+    enum PARAMETER{
+        THETA,
+        D,
+        A,
+        ALPHA
+    };
+private:
+    PARAMETER parameter_;
+    const std::unordered_map<std::string, PARAMETER>
+        map_ = {{"THETA", THETA},
+                {"D"    ,     D},
+                {"A"    ,     A},
+                {"ALPHA", ALPHA},
+                };
+
+    /**
+     * @brief _get_parameter sets the parameter member using a string as argument.
+     * @param parameter The desired parameter to be set. Example: "THETA", "D", "A", or "ALPHA".
+     */
+    void _set_parameter(const std::string& parameter)
+    {
+        try {
+            parameter_ = map_.at(parameter);
+        } catch (...) {
+            throw std::runtime_error("The parameter \""+ parameter+ "\" is not supported. Use THETA, D, A, or ALPHA");
+        }
+    }
+public:
+    /**
+     * @brief DQ_ParameterDH Default constructor method.
+     */
+    DQ_ParameterDH() = default;
+
+    /**
+     * @brief DQ_ParameterDH Constructor method
+     * @param parameter The desired DH parameter. Example: THETA, D, A, or ALPHA.
+     */
+    DQ_ParameterDH(const PARAMETER& parameter): parameter_{parameter}{};
+
+    // This definition enables switch cases and comparisons.
+    constexpr operator PARAMETER() const { return parameter_; }
+
+    /**
+     * @brief DQ_ParameterDH Constructor method that allows string parameters.
+     *                       This is done to keep the language compatibility between
+     *                       Matlab and Python/C++, as discussed in
+     *                       https://github.com/dqrobotics/cpp/pull/69
+     * @param parameter The desired DH parameter. Example: "THETA", "D", "A", or "ALPHA".
+     */
+    DQ_ParameterDH(const std::string& parameter){
+        _set_parameter(parameter);
+    }
+
+
+    /**
+     * @brief DQ_ParameterDH Constructor method that allows char parameters.
+     *                       This is done to keep the language compatibility between
+     *                       Matlab and Python/C++, as discussed in
+     *                       https://github.com/dqrobotics/cpp/pull/69
+     * @param parameter_c The desired DH parameter. Example: "THETA", "D", "A", or "ALPHA".
+     */
+    DQ_ParameterDH(const char* parameter_c){
+        _set_parameter(parameter_c);
+    }
+
+};
+}
+
+

include/dqrobotics/robot_modeling/DQ_SerialManipulator.h

@@ -18,9 +18,8 @@ This file is part of DQ Robotics.
     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
 
 Contributors:
-- Murilo M. Marinho        (murilomarinho@ieee.org)
-- Mateus Rodrigues Martins (martinsrmateus@gmail.com)
-- Juan Jose Quiroz Omana   (juanjqo@g.ecc.u-tokyo.ac.jp)
+1. Murilo M. Marinho        (murilomarinho@ieee.org)
+2. Mateus Rodrigues Martins (martinsrmateus@gmail.com)
 */
 
 #include <dqrobotics/robot_modeling/DQ_Kinematics.h>

include/dqrobotics/robot_modeling/DQ_SerialManipulatorDH.h

@@ -1,6 +1,6 @@
 #pragma once
 /**
-(C) Copyright 2020-2022 DQ Robotics Developers
+(C) Copyright 2011-2025 DQ Robotics Developers
 
 This file is part of DQ Robotics.
 
@@ -18,12 +18,16 @@ This file is part of DQ Robotics.
     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
 
 Contributors:
-- Murilo M. Marinho (murilomarinho@ieee.org)
-- Juan Jose Quiroz Omana   (juanjqo@g.ecc.u-tokyo.ac.jp)
+1. Murilo M. Marinho (murilomarinho@ieee.org)
+    - Responsible for the original implementation.
+
+2. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
+    - Added methods to get and set the DH parameters.
 */
 
 
 #include <dqrobotics/robot_modeling/DQ_SerialManipulator.h>
+#include <dqrobotics/robot_modeling/DQ_ParameterDH.h>
 
 namespace DQ_robotics
 {
@@ -36,6 +40,14 @@ class DQ_SerialManipulatorDH: public DQ_SerialManipulator
     DQ _get_w(const int& ith) const;
     DQ _dh2dq(const double& q, const int& ith) const;
 public:
+    VectorXd get_parameters(const DQ_ParameterDH& parameter_type) const;
+    double   get_parameter(const DQ_ParameterDH& parameter_type,
+                           const int& to_ith_link) const;
+    void set_parameters(const DQ_ParameterDH& parameter_type,
+                        const VectorXd& vector_parameters);
+    void set_parameter(const DQ_ParameterDH& parameter_type,
+                       const int& to_ith_link,
+                       const double& parameter);
 
     // Deprecated on 22.04, will be removed on the next release.
     enum [[deprecated("Use ? instead.")]] JOINT_TYPES{ JOINT_ROTATIONAL=0, JOINT_PRISMATIC };

include/dqrobotics/robot_modeling/DQ_SerialManipulatorMDH.h

@@ -1,6 +1,6 @@
 #pragma once
 /**
-(C) Copyright 2022 DQ Robotics Developers
+(C) Copyright 2011-2025 DQ Robotics Developers
 
 This file is part of DQ Robotics.
 
@@ -18,11 +18,15 @@ This file is part of DQ Robotics.
     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
 
 Contributors:
-- Murilo M. Marinho (murilomarinho@ieee.org)
-- Juan Jose Quiroz Omana -  juanjqo@g.ecc.u-tokyo.ac.jp
+1. Murilo M. Marinho (murilomarinho@ieee.org)
+    - Responsible for the original implementation.
+
+2. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
+    - Added methods to get and set the DH parameters.
 */
 
 #include <dqrobotics/robot_modeling/DQ_SerialManipulator.h>
+#include <dqrobotics/robot_modeling/DQ_ParameterDH.h>
 
 namespace DQ_robotics
 {
@@ -35,6 +39,14 @@ class DQ_SerialManipulatorMDH: public DQ_SerialManipulator
     DQ _get_w(const int& ith) const;
     DQ _mdh2dq(const double& q, const int& ith) const;
 public:
+    VectorXd get_parameters(const DQ_ParameterDH& parameter_type) const;
+    double   get_parameter(const DQ_ParameterDH& parameter_type,
+                         const int& to_ith_link) const;
+    void set_parameters(const DQ_ParameterDH& parameter_type,
+                        const VectorXd& vector_parameters);
+    void set_parameter(const DQ_ParameterDH& parameter_type,
+                       const int& to_ith_link,
+                       const double& parameter);
 
     // Deprecated on 22.04, will be removed on the next release.
     enum [[deprecated("Use ? instead.")]] JOINT_TYPES{ JOINT_ROTATIONAL=0, JOINT_PRISMATIC };

src/robot_modeling/DQ_SerialManipulator.cpp

@@ -1,5 +1,5 @@
 /**
-(C) Copyright 2011-2020 DQ Robotics Developers
+(C) Copyright 2011-2025 DQ Robotics Developers
 
 This file is part of DQ Robotics.
 
@@ -17,9 +17,8 @@ This file is part of DQ Robotics.
     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
 
 Contributors:
-- Murilo M. Marinho (murilomarinho@ieee.org)
-- Mateus Rodrigues Martins (martinsrmateus@gmail.com)
-- Juan Jose Quiroz Omana   (juanjqo@g.ecc.u-tokyo.ac.jp)
+1. Murilo M. Marinho        (murilomarinho@ieee.org)
+2. Mateus Rodrigues Martins (martinsrmateus@gmail.com)
 */
 
 #include <dqrobotics/robot_modeling/DQ_SerialManipulator.h>

src/robot_modeling/DQ_SerialManipulatorDH.cpp

@@ -1,5 +1,5 @@
 /**
-(C) Copyright 2020-2022 DQ Robotics Developers
+(C) Copyright 2011-2025 DQ Robotics Developers
 
 This file is part of DQ Robotics.
 
@@ -17,8 +17,11 @@ This file is part of DQ Robotics.
     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
 
 Contributors:
-- Murilo M. Marinho (murilomarinho@ieee.org)
-- Juan Jose Quiroz Omana   (juanjqo@g.ecc.u-tokyo.ac.jp)
+1. Murilo M. Marinho (murilomarinho@ieee.org)
+    - Responsible for the original implementation.
+
+2. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
+    - Added methods to get and set the DH parameters.
 */
 
 #include <dqrobotics/robot_modeling/DQ_SerialManipulatorDH.h>
@@ -99,6 +102,102 @@ DQ DQ_SerialManipulatorDH::_dh2dq(const double &q, const int &ith) const
                 );
 }
 
+/**
+ * @brief DQ_SerialManipulatorDH::get_parameters returns a vector containing the DH parameters.
+ * @param parameter_type Parameter type, which which corresponds to THETA, D, A, or ALPHA.
+ * @return A vector containing the desired DH parameters.
+ */
+VectorXd DQ_SerialManipulatorDH::get_parameters(const DQ_ParameterDH &parameter_type) const
+{
+    switch (parameter_type) {
+    case DQ_ParameterDH::THETA:
+        return  dh_matrix_.row(0);
+    case DQ_ParameterDH::D:
+        return  dh_matrix_.row(1);
+    case DQ_ParameterDH::A:
+        return  dh_matrix_.row(2);
+    case DQ_ParameterDH::ALPHA:
+        return  dh_matrix_.row(3);
+    default:
+        throw std::runtime_error("Wrong type of parameter");
+    }
+}
+
+/**
+ * @brief DQ_SerialManipulatorDH::get_parameter returns the DH parameter of the ith joint.
+ * @param parameter_type Parameter type, which which corresponds to THETA, D, A, or ALPHA.
+ * @param to_ith_link The joint number.
+ * @return The desired DH parameter.
+ */
+double DQ_SerialManipulatorDH::get_parameter(const DQ_ParameterDH &parameter_type,
+                                             const int &to_ith_link) const
+{
+    _check_to_ith_link(to_ith_link);
+    switch (parameter_type) {
+    case DQ_ParameterDH::THETA:
+        return  dh_matrix_(0, to_ith_link);
+    case DQ_ParameterDH::D:
+        return  dh_matrix_(1, to_ith_link);
+    case DQ_ParameterDH::A:
+        return  dh_matrix_(2, to_ith_link);
+    case DQ_ParameterDH::ALPHA:
+        return  dh_matrix_(3, to_ith_link);
+    default:
+        throw std::runtime_error("Wrong type of parameter");
+    }
+}
+
+/**
+ * @brief DQ_SerialManipulatorDH::set_parameters sets the DH parameters.
+ * @param parameter_type Parameter type, which which corresponds to THETA, D, A, or ALPHA.
+ * @param vector_parameters A vector containing the new parameters.
+ */
+void DQ_SerialManipulatorDH::set_parameters(const DQ_ParameterDH &parameter_type,
+                                            const VectorXd &vector_parameters)
+{
+    _check_q_vec(vector_parameters);
+    switch (parameter_type) {
+    case DQ_ParameterDH::THETA:
+        dh_matrix_.row(0) = vector_parameters;
+        break;
+    case DQ_ParameterDH::D:
+        dh_matrix_.row(1) =  vector_parameters;
+        break;
+    case DQ_ParameterDH::A:
+        dh_matrix_.row(2) =  vector_parameters;
+        break;
+    case DQ_ParameterDH::ALPHA:
+        dh_matrix_.row(3) =  vector_parameters;
+        break;
+    }
+}
+
+/**
+ * @brief DQ_SerialManipulatorDH::set_parameter sets the DH parameter of the ith joint.
+ * @param parameter_type Parameter type, which which corresponds to THETA, D, A, or ALPHA.
+ * @param to_ith_link The joint number.
+ * @param parameter The new parameter.
+ */
+void DQ_SerialManipulatorDH::set_parameter(const DQ_ParameterDH &parameter_type,
+                                           const int &to_ith_link, const double &parameter)
+{
+    _check_to_ith_link(to_ith_link);
+    switch (parameter_type) {
+    case DQ_ParameterDH::THETA:
+        dh_matrix_(0, to_ith_link) = parameter;
+        break;
+    case DQ_ParameterDH::D:
+        dh_matrix_(1, to_ith_link) = parameter;
+        break;
+    case DQ_ParameterDH::A:
+        dh_matrix_(2, to_ith_link) = parameter;
+        break;
+    case DQ_ParameterDH::ALPHA:
+        dh_matrix_(3, to_ith_link) = parameter;
+        break;
+    }
+}
+
 
 /**
  * @brief This protected method computes the dual quaternion related with the time derivative of the