A device for a sequence of joints. More...

#include <JointDevice.hpp>

Inherits Device.

Inherited by CompositeDevice, CompositeJointDevice, ParallelDevice, SerialDevice, and TreeDevice.

Public Types
typedef rw::core::Ptr< JointDevice >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const JointDevice >	CPtr
	smart pointer type to this class

Public Types inherited from Device
typedef rw::core::Ptr< Device >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const Device >	CPtr
	const smart pointer type to this class

typedef std::pair< rw::math::Q, rw::math::Q >	QBox
	Lower and upper corner of a box shaped configuration space.

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	JointDevice (const std::string &name, rw::core::Ptr< rw::kinematics::Frame > base, rw::core::Ptr< rw::kinematics::Frame > end, const std::vector< rw::models::Joint * > &joints, const rw::kinematics::State &state)
	Construct the device for a sequence of joints. More...

virtual	~JointDevice ()
	destructor

const std::vector< rw::models::Joint * > &	getJoints () const
	Get all joints of this device. More...

void	setQ (const rw::math::Q &q, rw::kinematics::State &state) const
	Sets configuration vector \( \mathbf{q} \in \mathbb{R}^n \). More...

rw::math::Q	getQ (const rw::kinematics::State &state) const
	Gets configuration vector \( \mathbf{q}\in \mathbb{R}^n \). More...

size_t	getDOF () const
	Returns number of active joints. More...

std::pair< rw::math::Q, rw::math::Q >	getBounds () const
	Returns the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space. More...

void	setBounds (const std::pair< rw::math::Q, rw::math::Q > &bounds)
	Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space. More...

rw::math::Q	getVelocityLimits () const
	Returns the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...

void	setVelocityLimits (const rw::math::Q &vellimits)
	Sets the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...

rw::math::Q	getAccelerationLimits () const
	Returns the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). More...

void	setAccelerationLimits (const rw::math::Q &acclimits)
	Sets the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). More...

rw::math::Jacobian	baseJend (const rw::kinematics::State &state) const
	Calculates the jacobian matrix of the end-effector described in the robot base frame \( ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \). More...

rw::core::Ptr< rw::models::JacobianCalculator >	baseJCframes (const std::vector< rw::kinematics::Frame * > &frames, const rw::kinematics::State &state) const
	DeviceJacobian for a sequence of frames. More...

rw::kinematics::Frame *	getBase ()
	a method to return the frame of the base of the device. More...

const rw::kinematics::Frame *	getBase () const
	a method to return the frame of the base of the device. More...

virtual rw::kinematics::Frame *	getEnd ()
	a method to return the frame of the end of the device More...

virtual const rw::kinematics::Frame *	getEnd () const
	a method to return the frame of the end of the device More...

Public Member Functions inherited from Device
	Device (const std::string &name)

virtual	~Device ()
	Virtual destructor.

virtual void	setBounds (const QBox &bounds)=0
	Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space. More...

const std::string &	getName () const
	Returns the name of the device. More...

void	setName (const std::string &name)
	Sets the name of the Device. More...

rw::math::Transform3D< double >	baseTframe (rw::core::Ptr< const rw::kinematics::Frame > f, const rw::kinematics::State &state) const
	Calculates the homogeneous transform from base to a frame f \( \robabx{b}{f}{\mathbf{T}} \). More...

rw::math::Transform3D< double >	baseTend (const rw::kinematics::State &state) const
	Calculates the homogeneous transform from base to the end frame \( \robabx{base}{end}{\mathbf{T}} \). More...

rw::math::Transform3D< double >	worldTbase (const rw::kinematics::State &state) const
	Calculates the homogeneous transform from world to base \( \robabx{w}{b}{\mathbf{T}} \). More...

virtual rw::math::Jacobian	baseJframe (rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &state) const
	Calculates the jacobian matrix of a frame f described in the robot base frame \( ^{base}_{frame}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \). More...

virtual rw::math::Jacobian	baseJframes (const std::vector< rw::kinematics::Frame * > &frames, const rw::kinematics::State &state) const
	The Jacobian for a sequence of frames. More...

virtual rw::core::Ptr< rw::models::JacobianCalculator >	baseJCend (const rw::kinematics::State &state) const
	DeviceJacobian for the end frame. More...

virtual rw::core::Ptr< rw::models::JacobianCalculator >	baseJCframe (rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &state) const
	DeviceJacobian for a particular frame. More...

const rw::core::PropertyMap &	getPropertyMap () const
	Miscellaneous properties of the device. More...

rw::core::PropertyMap &	getPropertyMap ()
	Miscellaneous properties of the device. More...

Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor

virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...

virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.

virtual void	unregister ()
	unregisters all state data of this stateless object

StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...

const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...

bool	isRegistered ()
	Check if object has registered its state. More...

Additional Inherited Members
Protected Member Functions inherited from Stateless
	Stateless ()
	constructor

template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization

void	add (StateData *data)
	Add data. More...

void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

A device for a sequence of joints.

Contrary to for example SerialDevice and TreeDevice, the joints need not have any particular ordering within the kinematic tree.

A JointDevice is a joint for which the values of the configuration Q each correspond to a frame of type Joint.

To implement a Device it is common to derive from JointDevice and just add implement methods where your device differs from the standard behaviour. Subclasses typically differ in their implementation of setQ() and the Jacobian computation.

Constructor & Destructor Documentation

◆ JointDevice()

JointDevice	(	const std::string &	name,
		rw::core::Ptr< rw::kinematics::Frame >	base,
		rw::core::Ptr< rw::kinematics::Frame >	end,
		const std::vector< rw::models::Joint * > &	joints,
		const rw::kinematics::State &	state
	)

Construct the device for a sequence of joints.

Parameters

name	[in] name of device
base	[in] the base of the device
end	[in] the end (or tool) of the device
joints	[in] the joints of the device
state	[in] the state that shows how frames are connected as needed for the computation of Jacobians.

Member Function Documentation

◆ baseJCframes()

rw::core::Ptr<rw::models::JacobianCalculator> baseJCframes	(	const std::vector< rw::kinematics::Frame * > &	frames,
		const rw::kinematics::State &	state
	)		const

virtual

DeviceJacobian for a sequence of frames.

Implements Device.

◆ baseJend()

rw::math::Jacobian baseJend ( const rw::kinematics::State & state ) const

virtual

Calculates the jacobian matrix of the end-effector described in the robot base frame \( ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \).

Parameters

state [in] State for which to calculate the Jacobian

Returns: the \( 6*ndof \) jacobian matrix: \( {^{base}_{end}}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \)

This method calculates the jacobian relating joint velocities ( \( \mathbf{\dot{q}} \)) to the end-effector velocity seen from base-frame ( \( \nu^{ase}_{end} \))

\[ \nu^{base}_{end} = {^{base}_{end}}\mathbf{J}_\mathbf{q}(\mathbf{q})\mathbf{\dot{q}} \]

The jacobian matrix

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \]

is defined as:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^{base}\mathbf{x}_n}{\partial \mathbf{q}} \]

Where:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \left[ \begin{array}{cccc} {^{base}_1}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) & {^{base}_2}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) & \cdots & {^b_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \\ \end{array} \right] \]

where \( {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \) is defined by

\[ {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \times {^{i}\mathbf{p}_n} \\ {^{base}}\mathbf{z}_i \\ \end{array} \right] & \textrm{revolute joint} \end{array} \]

\[ {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \\ \mathbf{0} \\ \end{array} \right] & \textrm{prismatic joint} \\ \end{array} \]

By default the method forwards to baseJframe().

Implements Device.

Reimplemented in ParallelDevice.

◆ getAccelerationLimits()

rw::math::Q getAccelerationLimits ( ) const

virtual

Returns the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}\)

Returns: the maximal acceleration

Implements Device.

◆ getBase() [1/2]

rw::kinematics::Frame* getBase ( )

inlinevirtual

a method to return the frame of the base of the device.

Returns: the base frame

Implements Device.

◆ getBase() [2/2]

const rw::kinematics::Frame* getBase ( ) const

inlinevirtual

a method to return the frame of the base of the device.

Returns: the base frame

Implements Device.

◆ getBounds()

std::pair<rw::math::Q, rw::math::Q> getBounds ( ) const

virtual

Returns the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space.

Returns: std::pair containing \( (\mathbf{q}_{min}, \mathbf{q}_{max}) \)

Implements Device.

◆ getDOF()

size_t getDOF ( ) const

virtual

Returns number of active joints.

Returns: number of active joints \( n \)

Implements Device.

◆ getEnd() [1/2]

virtual rw::kinematics::Frame* getEnd ( )

inlinevirtual

a method to return the frame of the end of the device

Returns: the end frame

Implements Device.

Reimplemented in TreeDevice.

◆ getEnd() [2/2]

virtual const rw::kinematics::Frame* getEnd ( ) const

inlinevirtual

a method to return the frame of the end of the device

Returns: the end frame

Implements Device.

Reimplemented in TreeDevice.

◆ getJoints()

const std::vector<rw::models::Joint*>& getJoints ( ) const

inline

Get all joints of this device.

Returns: all joints

◆ getQ()

rw::math::Q getQ ( const rw::kinematics::State & state ) const

virtual

Gets configuration vector \( \mathbf{q}\in \mathbb{R}^n \).

Parameters

state [in] state from which which to get \( \mathbf{q} \)

Returns: configuration vector \( \mathbf{q} \)

Implements Device.

◆ getVelocityLimits()

rw::math::Q getVelocityLimits ( ) const

virtual

Returns the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}\)

Returns: the maximal velocity

Implements Device.

◆ setAccelerationLimits()

void setAccelerationLimits ( const rw::math::Q & acclimits )

virtual

Sets the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}\)

Parameters

acclimits [in] the maximal acceleration

Implements Device.

◆ setBounds()

void setBounds ( const std::pair< rw::math::Q, rw::math::Q > & bounds )

Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space.

Parameters

bounds [in] std::pair containing \( (\mathbf{q}_{min}, \mathbf{q}_{max}) \)

◆ setQ()

void setQ	(	const rw::math::Q &	q,
		rw::kinematics::State &	state
	)		const

virtual

Sets configuration vector \( \mathbf{q} \in \mathbb{R}^n \).

Parameters

q	[in] configuration vector \( \mathbf{q} \)
state	[in] state into which to set \( \mathbf{q} \)

Precondition: q.size() == getDOF()

Implements Device.

Reimplemented in ParallelDevice.

◆ setVelocityLimits()

void setVelocityLimits ( const rw::math::Q & vellimits )

virtual

Sets the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}\)

Parameters

vellimits [in] Q with the maximal velocity

Implements Device.

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

JointDevice.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JointDevice()

Member Function Documentation

◆ baseJCframes()

◆ baseJend()

◆ getAccelerationLimits()

◆ getBase() [1/2]

◆ getBase() [2/2]

◆ getBounds()

◆ getDOF()

◆ getEnd() [1/2]

◆ getEnd() [2/2]

◆ getJoints()

◆ getQ()

◆ getVelocityLimits()

◆ setAccelerationLimits()

◆ setBounds()

◆ setQ()

◆ setVelocityLimits()