Package org.robwork.sdurw_models

Class CompositeJointDevice

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_models.Device

org.robwork.sdurw_models.JointDevice

org.robwork.sdurw_models.CompositeJointDevice

public class CompositeJointDevice
extends JointDevice

A device constructed from a sequence of devices.

The configuration of a composite device is equal to the concatenation of
the configurations of the sequence of devices.

The devices that make up the CompositeJointDevice may not share joints, but
the implementation does not check if this is actually the case.

A composite device implements its operations of Device by querying each
Joint in the straight-forward way of JointDevice. The notable
exception is Device::setQ() which is implemented by forwarding the
Device::setQ() calls to the sequence of devices. This means that
CompositeJointDevice works also for example for devices of type ParallelDevice
that have an overwritten implementation of Device::setQ().

The devices from which the composite device is constructed must all be of
type JointDevice. An exception is thrown by the constructor if one of
the devices is not of this subtype.

The computation of Jacobians of CompositeJointDevice is not correct in
general, but is correct only for devices for which the standard technique
of JointDevice is correct. We cannot in general in RobWork do any
better currently. The implementation does not check if the requirements
for the computation of Jacobians are indeed satisfied.

CompositeJointDevice is related to TreeDevice in the sense that
CompositeJointDevice has also multiple end-effectors (one end-effector for
each device). CompositeJointDevice differs from TreeDevice by not requiring
that the child-to-parent paths of the end-effectors connect to a common
base.

Constructor Summary

Constructors

Constructor	Description
CompositeJointDevice(long cPtr, boolean cMemoryOwn)
CompositeJointDevice(FramePtr base, DevicePtrVector devices, FramePtr end, java.lang.String name, State state)	Constructor
CompositeJointDevice(FramePtr base, DevicePtrVector devices, FrameVector ends, java.lang.String name, State state)	Constructor

Method Summary

Modifier and Type	Method	Description
Jacobian	baseJends(State state)	like Device::baseJend() but with a Jacobian calculated for all end-effectors (see getEnds()).
void	delete()
static long	getCPtr(CompositeJointDevice obj)
FrameVector	getEnds()	The end-effectors of the composite device. The end-effectors of the composite device are the end-effectors of the devices from which the composite device was constructed. This sequence of end-effectors may or may not include the default end-effector returned by getEnd().
void	setQ(Q q, State state)	The method is implemented via forwarding to the Device::setQ() methods of the subdevices.

Methods inherited from class org.robwork.sdurw_models.JointDevice

baseJCframes, baseJend, getAccelerationLimits, getBase, getBounds, getCPtr, getDOF, getEnd, getJoints, getQ, getVelocityLimits, setAccelerationLimits, setBounds, setVelocityLimits

Methods inherited from class org.robwork.sdurw_models.Device

baseJCend, baseJCframe, baseJframe, baseJframes, baseTend, baseTframe, getCPtr, getName, getPropertyMap, setName, toString, worldTbase

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

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

Constructor Detail

CompositeJointDevice

public CompositeJointDevice(long cPtr,
                            boolean cMemoryOwn)

CompositeJointDevice

public CompositeJointDevice(FramePtr base,
                            DevicePtrVector devices,
                            FramePtr end,
                            java.lang.String name,
                            State state)

Constructor

Parameters:

base - [in] the base of the device

devices - [in] the sequence of subdevices

end - [in] the end (or tool) of the device

name - [in] the name of the device

state - [in] the kinematic structure assumed for Jacobian computations

CompositeJointDevice

public CompositeJointDevice(FramePtr base,
                            DevicePtrVector devices,
                            FrameVector ends,
                            java.lang.String name,
                            State state)

Constructor

Parameters:

base - [in] the base of the device

devices - [in] the sequence of subdevices

ends - [in] the end frames (or tools) of the device

name - [in] the name of the device

state - [in] the kinematic structure assumed for Jacobian computations

Method Detail

getCPtr

public static long getCPtr(CompositeJointDevice obj)

delete

public void delete()

Overrides:

delete in class JointDevice

setQ

public void setQ(Q q,
                 State state)

The method is implemented via forwarding to the Device::setQ()
methods of the subdevices.

Overrides:

setQ in class JointDevice

Parameters:

q - [in] configuration vector \mathbf{q}

state - [in] state into which to set \mathbf{q}

baseJends

public Jacobian baseJends(State state)

like Device::baseJend() but with a Jacobian calculated for all
end-effectors (see getEnds()).

getEnds

public FrameVector getEnds()

The end-effectors of the composite device.

The end-effectors of the composite device are the end-effectors of
the devices from which the composite device was constructed.

This sequence of end-effectors may or may not include the default
end-effector returned by getEnd().