Package org.robwork.sdurw
Class Device
- java.lang.Object
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- org.robwork.sdurw.Device
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- Direct Known Subclasses:
JointDevice
,MobileDevice
,SE3Device
public class Device extends java.lang.Object
An abstract device class
The Device class is the basis for all other devices. It is assumed that all devices
have a configuration which can be encoded by a Q, that all have a base frame
representing where in the work cell they are located and a primary end frame. Notice that
some devices may have multiple end-frames.
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Constructor Summary
Constructors Constructor Description Device(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Jacobian
baseJend(State state)
Calculates the jacobian matrix of the end-effector described
in the robot base frame ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q})
Jacobian
baseJframe(Frame frame, State state)
Calculates the jacobian matrix of a frame f described in the
robot base frame ^{base}_{frame}\mathbf{J}_{\mathbf{q}}(\mathbf{q})
Jacobian
baseJframes(FrameVector frames, State state)
The Jacobian for a sequence of frames.
A Jacobian is computed for each of the frames and the Jacobians are
stacked on top of eachother.Transform3Dd
baseTend(State state)
Calculates the homogeneous transform from base to the end frame
\robabx{base}{end}{\mathbf{T}}Transform3Dd
baseTframe(Frame f, State state)
Calculates the homogeneous transform from base to a frame f
\robabx{b}{f}{\mathbf{T}}void
delete()
Q
getAccelerationLimits()
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}
Frame
getBase()
a method to return the frame of the base of the device.PairQ
getBounds()
Returns the upper \mathbf{q}_{min} \in \mathbb{R}^n and
lower \mathbf{q}_{max} \in \mathbb{R}^n bounds of the joint space
static long
getCPtr(Device obj)
long
getDOF()
Returns number of active jointsFrame
getEnd()
a method to return the frame of the end of the devicejava.lang.String
getName()
Returns the name of the devicePropertyMap
getPropertyMap()
Miscellaneous properties of the device.
The property map of the device is provided to let the user store
various settings for the device.Q
getQ(State state)
Gets configuration vector \mathbf{q}\in \mathbb{R}^n
Q
getVelocityLimits()
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}
void
setAccelerationLimits(Q acclimits)
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}
void
setBounds(PairQ 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
void
setName(java.lang.String name)
Sets the name of the Devicevoid
setQ(Q q, State state)
Sets configuration vector \mathbf{q} \in \mathbb{R}^n
void
setVelocityLimits(Q vellimits)
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}
Transform3Dd
worldTbase(State state)
Calculates the homogeneous transform from world to base \robabx{w}{b}{\mathbf{T}}
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Method Detail
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getCPtr
public static long getCPtr(Device obj)
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delete
public void delete()
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setQ
public void setQ(Q q, State state)
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}
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getQ
public Q getQ(State state)
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}
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getBounds
public PairQ getBounds()
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})
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setBounds
public void setBounds(PairQ 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})
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getVelocityLimits
public Q getVelocityLimits()
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
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setVelocityLimits
public void setVelocityLimits(Q vellimits)
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] rw::math::Q with the maximal velocity
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getAccelerationLimits
public Q getAccelerationLimits()
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
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setAccelerationLimits
public void setAccelerationLimits(Q acclimits)
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
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getDOF
public long getDOF()
Returns number of active joints- Returns:
- number of active joints n
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getName
public java.lang.String getName()
Returns the name of the device- Returns:
- name of the device
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setName
public void setName(java.lang.String name)
Sets the name of the Device- Parameters:
name
- [in] the new name of the frame
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getBase
public Frame getBase()
a method to return the frame of the base of the device.- Returns:
- the base frame
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getEnd
public Frame getEnd()
a method to return the frame of the end of the device- Returns:
- the end frame
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baseTframe
public Transform3Dd baseTframe(Frame f, State state)
Calculates the homogeneous transform from base to a frame f
\robabx{b}{f}{\mathbf{T}}- Returns:
- the homogeneous transform \robabx{b}{f}{\mathbf{T}}
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baseTend
public Transform3Dd baseTend(State state)
Calculates the homogeneous transform from base to the end frame
\robabx{base}{end}{\mathbf{T}}- Returns:
- the homogeneous transform \robabx{base}{end}{\mathbf{T}}
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worldTbase
public Transform3Dd worldTbase(State state)
Calculates the homogeneous transform from world to base \robabx{w}{b}{\mathbf{T}}
- Returns:
- the homogeneous transform \robabx{w}{b}{\mathbf{T}}
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baseJend
public Jacobian baseJend(State state)
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().
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baseJframe
public Jacobian baseJframe(Frame frame, State state)
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 Jacobianstate
- [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().
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baseJframes
public Jacobian baseJframes(FrameVector frames, State state)
The Jacobian for a sequence of frames.
A Jacobian is computed for each of the frames and the Jacobians are
stacked on top of eachother.- Parameters:
frames
- [in] the frames to calculate the frames fromstate
- [in] the state to calculate in- Returns:
- the jacobian
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getPropertyMap
public PropertyMap getPropertyMap()
Miscellaneous properties of the device.
The property map of the device is provided to let the user store
various settings for the device. The settings are typically loaded
from setup files.
The low-level manipulations of the property map can be cumbersome. To
ease these manipulations, the PropertyAccessor utility class has been
provided. Instances of this class are provided for a number of common
settings, however it is undecided if these properties are a public
part of RobWork.
- Returns:
- The property map of the device.
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