This class defines the interface for Parallel devices. More...

#include <ParallelDevice.hpp>

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

typedef std::vector< rw::models::ParallelLeg * >	Legs
	type for a set of legs.

Public Types inherited from JointDevice
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
	ParallelDevice (const Legs &legs, const std::string name, const rw::kinematics::State &state)
	Constructor. More...

	ParallelDevice (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, const std::vector< Legs > &junctions)
	Constructor for parallel device with multiple junctions. More...

	~ParallelDevice ()
	Destructor.

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

virtual void	setQ (const rw::math::Q &q, const std::vector< bool > &enabled, rw::kinematics::State &state) const
	Set only some of the actuated joints. More...

rw::math::Jacobian	baseJframe (const rw::core::Ptr< 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...

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...

virtual std::vector< rw::models::ParallelLeg * >	getLegs () const
	The legs of the parallel device.

virtual std::vector< std::vector< rw::models::ParallelLeg * > >	getJunctions () const
	Get the junctions of the device. More...

virtual std::vector< models::Joint * >	getActiveJoints () const
	The active joints of the parallel device.

virtual std::vector< rw::models::Joint * >	getAllJoints () const
	Get all joints (both active and passive). More...

std::size_t	getFullDOF () const
	Get the total degrees of freedom for all (active and passive) joints in the device. More...

std::pair< rw::math::Q, rw::math::Q >	getAllBounds () const
	Get bounds for all joints (includes both active and passive joints). More...

rw::math::Q	getFullQ (const rw::kinematics::State &state) const
	Get the full configuration vector of the device. This gives the complete state of the parallel device. More...

void	setFullQ (const rw::math::Q &q, rw::kinematics::State &state) const
	Set the full configuration of the device. This sets the joint values directly, and there is no checks or guarantees that the device will be in a valid connected configuration afterwards. More...

Public Member Functions inherited from 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. More...

virtual	~JointDevice ()
	destructor

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

This class defines the interface for Parallel devices.

Constructor & Destructor Documentation

◆ ParallelDevice() [1/2]

ParallelDevice	(	const Legs &	legs,
		const std::string	name,
		const rw::kinematics::State &	state
	)

Constructor.

Parameters

legs	[in] the serial legs connecting the endplate to the base. The base of each serial Leg must be the same frame. Likewise, the endeffector (last frame) of each Leg must transform to the same transform as each of the other legs
name	[in] name of device
state	[in] the state for the assembly mode

◆ ParallelDevice() [2/2]

ParallelDevice	(	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,
		const std::vector< Legs > &	junctions
	)

Constructor for parallel device with multiple junctions.

Parameters

name	[in] name of the device.
base	[in] the base frame.
end	[in] the end frame.
joints	[in] a list of joints. Each joint can be included in multiple legs.
state	[in] the state used to construct a JointDevice.
junctions	[in] a list of junctions. Each junction is given by a list of legs that must begin and end in the same frame.

Member Function Documentation

◆ 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().

Reimplemented from JointDevice.

◆ baseJframe()

rw::math::Jacobian baseJframe	(	const rw::core::Ptr< rw::kinematics::Frame >	frame,
		const rw::kinematics::State &	state
	)		const

virtual

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

Parameters

frame	[in] Frame for which to calculate the Jacobian
state	[in] State for which to calculate the Jacobian

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

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

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

The jacobian matrix

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

is defined as:

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

By default the method forwards to baseJframes().

Reimplemented from Device.

◆ getAllBounds()

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

Get bounds for all joints (includes both active and passive joints).

Returns: a pair with the lower and upper limits.

◆ getAllJoints()

virtual std::vector<rw::models::Joint*> getAllJoints ( ) const

virtual

Get all joints (both active and passive).

Returns: a vector of all the joints.

◆ getFullDOF()

std::size_t getFullDOF ( ) const

Get the total degrees of freedom for all (active and passive) joints in the device.

Returns: the total degrees of freedom.

◆ getFullQ()

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

Get the full configuration vector of the device. This gives the complete state of the parallel device.

Parameters

state [in] the state that contains the full configuration.

Returns: the configuration vector with the joint values for both active and passive joints.

◆ getJunctions()

virtual std::vector<std::vector<rw::models::ParallelLeg*> > getJunctions ( ) const

inlinevirtual

Get the junctions of the device.

Returns: a vector of junctions. Each junction is given by a two or more legs.

◆ setFullQ()

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

Set the full configuration of the device. This sets the joint values directly, and there is no checks or guarantees that the device will be in a valid connected configuration afterwards.

Parameters

q	[in] the configuration vector to set.
state	[in/out] the state to update with a new configuration.

◆ setQ() [1/2]

virtual void setQ	(	const rw::math::Q &	q,
		const std::vector< bool > &	enabled,
		rw::kinematics::State &	state
	)		const

virtual

Set only some of the actuated joints.

This version of setQ will only set a subset of the actuated joints. Based on the value of
q, the function will compute the values for the unactuated (passive) joints, and the remaining actuated joints.

This is mainly useful for parallel devices that have more controlled joints than strictly required to make the kinematics determined.

Parameters

q	[in] the configuration of the actuated joints (the only considered elements are the ones where the corresponding elements of enabled is true).
enabled	[in] vector of same size as q, specifying which values to solve for.
state	[in/out] the state with all active and passive joint values. The input state is expected to contain a valid and consistent configuration of the device.

◆ setQ() [2/2]

virtual 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()

The configuration q is the configuration for the actuated joints of the parallel device. Based on the value of q the setQ() method automatically computes the values for the unactuated (passive) joints.

Reimplemented from JointDevice.

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

ParallelDevice.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ParallelDevice() [1/2]

◆ ParallelDevice() [2/2]

Member Function Documentation

◆ baseJend()

◆ baseJframe()

◆ getAllBounds()

◆ getAllJoints()

◆ getFullDOF()

◆ getFullQ()

◆ getJunctions()

◆ setFullQ()

◆ setQ() [1/2]

◆ setQ() [2/2]