Package org.robwork.sdurw_models

Class CompositeJointDevicePtr

  • public class CompositeJointDevicePtr
extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.

    • Constructor Detail

      • CompositeJointDevicePtr

        public CompositeJointDevicePtr​(long cPtr,
                               boolean cMemoryOwn)

      • CompositeJointDevicePtr

        public CompositeJointDevicePtr()
        Default constructor yielding a NULL-pointer.

      • CompositeJointDevicePtr

        public CompositeJointDevicePtr​(CompositeJointDevice ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • delete

        public void delete()

      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        ownership
        Returns:
        true if Ptr has shared ownership, false if it has no ownership.

      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns:
        Returns true if the pointer is null

      • setQ

        public void setQ​(Q q,
                 State state)


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

      • 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().

      • getJoints

        public VectorJoint_p getJoints()
        Get all joints of this device
        Returns:
        all joints

      • getQ

        public Q getQ​(State state)

      • getDOF

        public long getDOF()

      • getBounds

        public PairQ getBounds()

      • setBounds

        public void setBounds​(PairQ bounds)

      • getVelocityLimits

        public Q getVelocityLimits()

      • setVelocityLimits

        public void setVelocityLimits​(Q vellimits)

      • getAccelerationLimits

        public Q getAccelerationLimits()

      • setAccelerationLimits

        public void setAccelerationLimits​(Q acclimits)

      • getBase

        public Frame getBase()

      • getEnd

        public Frame getEnd()

      • getName

        public java.lang.String getName()
        Returns the name of the device
        Returns:
        name of the device

      • setName

        public void setName​(java.lang.String name)
        Sets the name of the Device
        Parameters:
        name - [in] the new name of the frame

      • baseTframe

        public Transform3D baseTframe​(FrameCPtr 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}}

      • baseTend

        public Transform3D 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}}

      • worldTbase

        public Transform3D 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}}

      • baseJframe

        public Jacobian baseJframe​(FrameCPtr 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 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().

      • 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 from
        state - [in] the state to calculate in
        Returns:
        the jacobian

      • baseJCend

        public JacobianCalculatorPtr baseJCend​(State state)
        DeviceJacobian for the end frame.

        By default this method forwards to baseDJframe().

      • baseJCframe

        public JacobianCalculatorPtr baseJCframe​(FrameCPtr frame,
                                         State state)
        DeviceJacobian for a particular frame.

        By default this method forwards to baseDJframes().

      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object

      • registerIn

        public void registerIn​(State state)
        initialize this stateless data to a specific state
        Parameters:
        state - [in] the state in which to register the data.

        Note: the data will be registered in the state structure of the state
        and any copies or other instances of the state will therefore also
        contain the added states.

      • registerIn

        public void registerIn​(StateStructurePtr state)
        register this stateless object in a statestructure.

      • unregister

        public void unregister()
        unregisters all state data of this stateless object

      • getStateStructure

        public StateStructurePtr getStateStructure()
        Get the state structure.
        Returns:
        the state structure.

      • isRegistered

        public boolean isRegistered()
        Check if object has registered its state.
        Returns:
        true if registered, false otherwise.