Package org.robwork.sdurw

Class DependentRevoluteJoint

java.lang.Object

org.robwork.sdurw_kinematics.StateData

org.robwork.sdurw_kinematics.Frame

org.robwork.sdurw.Joint

org.robwork.sdurw.DependentJoint

org.robwork.sdurw.DependentRevoluteJoint

public class DependentRevoluteJoint
extends DependentJoint

Dependent revolute joints.

DependentRevoluteJoint implements a revolute joint for which the rotation about the
z-axis are linearly dependent on another joint.

The parent to frame transform is T * Rz(q) where:

- T is the displacement transform of the joint;

- q = q_owner * scale + offset is the joint value of the joint;

- Rz(q) is the transform that rotates a point an angle q about the
z-axis.

Constructor Summary

Constructors

Constructor	Description
DependentRevoluteJoint(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
double	calcQ(State state)	calculate the current q of this joint
void	delete()
static long	getCPtr(DependentRevoluteJoint obj)
Transform3Dd	getFixedTransform()	get the fixed transform from parent to this joint Notice that this does not include the actual rotation of the joint (its state) only its fixed transform.
void	getJacobian(long row, long col, Transform3Dd joint, Transform3Dd tcp, State state, Jacobian jacobian)	Finds the Jacobian of the joints and adds it in jacobian. Calculates the Jacobian contribution to the device Jacobian when controlling a frame tcp and given a current joint pose joint. The values are stored from row row to row+5 and column col to col+(joint.getDOF()-1).
Transform3Dd	getJointTransform(State state)	get the isolated joint transformation which is purely dependent on q.
double	getOffset()	get offset of this joint value in relation to controlling joint
Joint	getOwner()	The joint controlling the passive revolute frame.
double	getScale()	The scaling factor for the joint value of the controlling joint.
boolean	isControlledBy(Joint joint)	Returns true if the DependentJoint is controlled by joint. A DependentJoint may depend on more than one joints.
void	removeJointMapping()	removes mapping of joint values
void	setFixedTransform(Transform3Dd t3d)	change the transform from parent to joint base.
void	setJointMapping(SWIGTYPE_p_rw__core__PtrT_rw__math__Function1DiffT_double_double_double_t_t function)	set the function to be used in transforming from the state q to the actual q needed. This function can be used e.g.

Methods inherited from class org.robwork.sdurw.DependentJoint

getCPtr

Methods inherited from class org.robwork.sdurw.Joint

getBounds, getCPtr, getMaxAcceleration, getMaxVelocity, isActive, setActive, setBounds, setMaxAcceleration, setMaxVelocity

Methods inherited from class org.robwork.sdurw_kinematics.Frame

attachTo, fTf, getChildren, getChildren, getChildrenList, getCPtr, getDafChildren, getDafParent, getDOF, getParent, getParent, getPropertyMap, getTransform, isDAF, multiplyTransform, wTf

Methods inherited from class org.robwork.sdurw_kinematics.StateData

getCache, getCPtr, getDefaultCache, getID, getName, getStateStructure, hasCache, setCache, size

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DependentRevoluteJoint

public DependentRevoluteJoint(long cPtr,
                              boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(DependentRevoluteJoint obj)

delete

public void delete()

Overrides:

delete in class DependentJoint

getOwner

public Joint getOwner()

The joint controlling the passive revolute frame.

getScale

public double getScale()

The scaling factor for the joint value of the controlling joint.

getOffset

public double getOffset()

get offset of this joint value in relation to controlling joint

isControlledBy

public boolean isControlledBy(Joint joint)

Description copied from class: DependentJoint

Returns true if the DependentJoint is controlled by joint.

A DependentJoint may depend on more than one joints.

Overrides:

isControlledBy in class DependentJoint

Parameters:

joint - [in] Joints to test with

Returns:

True if this is controlled by joint

calcQ

public double calcQ(State state)

calculate the current q of this joint

Parameters:

state -

Returns:

getJacobian

public void getJacobian(long row,
                        long col,
                        Transform3Dd joint,
                        Transform3Dd tcp,
                        State state,
                        Jacobian jacobian)

Description copied from class: Joint

Finds the Jacobian of the joints and adds it in jacobian.

Calculates the Jacobian contribution to the device Jacobian when controlling a frame
tcp and given a current joint pose joint.

The values are stored from row row to row+5 and column col to
col+(joint.getDOF()-1).

Overrides:

getJacobian in class Joint

Parameters:

row - [in] Row where values should be stored

col - [in] Column where values should be stored

joint - [in] Transform of the joint

tcp - [in] Transformation of the point to control

state -

jacobian - [in] Jacobian to which to add the results.

getFixedTransform

public Transform3Dd getFixedTransform()

Description copied from class: Joint

get the fixed transform from parent to this joint

Notice that this does not include the actual rotation of the joint (its state)
only its fixed transform.

Overrides:

getFixedTransform in class Joint

Returns:

fixed part of transform from paretn to joint

setFixedTransform

public void setFixedTransform(Transform3Dd t3d)

Description copied from class: Joint

change the transform from parent to joint base.

Overrides:

setFixedTransform in class Joint

Parameters:

t3d - [in] the new transform.

getJointTransform

public Transform3Dd getJointTransform(State state)

Description copied from class: Joint

get the isolated joint transformation which is purely dependent on
q.

Overrides:

getJointTransform in class Joint

Parameters:

state - [in] the state from which to extract q

Returns:

the joint transformation

setJointMapping

public void setJointMapping(SWIGTYPE_p_rw__core__PtrT_rw__math__Function1DiffT_double_double_double_t_t function)

Description copied from class: Joint

set the function to be used in transforming from the state q to the actual q
needed.

This function can be used e.g. by a calibration.

Overrides:

setJointMapping in class Joint

Parameters:

function - [in] function with first order derivative.

removeJointMapping

public void removeJointMapping()

Description copied from class: Joint

removes mapping of joint values

Overrides:

removeJointMapping in class Joint