Package org.robwork.sdurw

Class SphericalJoint

java.lang.Object

org.robwork.sdurw_kinematics.StateData

org.robwork.sdurw_kinematics.Frame

org.robwork.sdurw.Joint

org.robwork.sdurw.SphericalJoint

public class SphericalJoint
extends Joint

A spherical joint that allows rotations in all directions.

Rotation is allowed around the x-, y- and z-axes. The position is fixed.

Constructor Summary

Constructors

Constructor	Description
SphericalJoint(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
Transform3Dd	doGetTransform(State state)	Frame::doGetTransform
void	doMultiplyTransform(Transform3Dd parent, State state, Transform3Dd result)	Frame::doMultiplyTransform
static long	getCPtr(SphericalJoint 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.
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.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

SphericalJoint

public SphericalJoint(long cPtr,
                      boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(SphericalJoint obj)

delete

public void delete()

Overrides:

delete in class Joint

doMultiplyTransform

public void doMultiplyTransform(Transform3Dd parent,
                                State state,
                                Transform3Dd result)

Frame::doMultiplyTransform

doGetTransform

public Transform3Dd doGetTransform(State state)

Frame::doGetTransform

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