Package org.robwork.sdurw_models

Class Device

  • Direct Known Subclasses:
    JointDevice, MobileDevice, SE3Device
    public class Device
extends Stateless
    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 rw::math::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.

    • Constructor Summary

      Constructors 
      Constructor Description
      Device​(long cPtr, boolean cMemoryOwn)  

    • Constructor Detail

      • Device

        public Device​(long cPtr,
              boolean cMemoryOwn)

    • Method Detail

      • getCPtr

        public static long getCPtr​(Device obj)

      • 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}

      • 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}

      • 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})

      • 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})

      • 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

      • 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] Q with the maximal velocity

      • 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

      • 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

      • getDOF

        public long getDOF()
        Returns number of active joints
        Returns:
        number of active joints n

      • 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

      • getBase

        public Frame getBase()
        a method to return the frame of the base of the device.
        Returns:
        the base frame

      • getEnd

        public Frame getEnd()
        a method to return the frame of the end of the device
        Returns:
        the end 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