Package org.robwork.sdurw_models

Class RevoluteJoint

java.lang.Object

org.robwork.sdurw_kinematics.StateData

org.robwork.sdurw_kinematics.Frame

org.robwork.sdurw_models.Joint

org.robwork.sdurw_models.RevoluteJoint

public class RevoluteJoint
extends Joint

Revolute joints.

RevoluteJoint implements a revolute joint for the rotation about the
z-axis of an arbitrary displacement transform.

Constructor Summary

Constructors

Constructor	Description
RevoluteJoint(long cPtr, boolean cMemoryOwn)
RevoluteJoint(java.lang.String name, Transform3D transform)	Constructs RevoluteJoint

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(RevoluteJoint obj)
Transform3D	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, Transform3D joint, Transform3D 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).
Transform3D	getJointTransform(double q)	The transform of the joint relative to its parent. The transform is calculated for the joint values of state. This method is equivalent to Frame::multiplyTransform except that is operates directly on a joint vector instead of a State.
Transform3D	getJointTransform(State state)	get the isolated joint transformation which is purely dependent on q.
Transform3D	getTransform(double q)	The transform of the joint relative to its parent. The transform is calculated for the joint values of state. This method is equivalent to Frame::multiplyTransform except that is operates directly on a joint vector instead of a State.
Transform3D	getTransform(State state)	The transform of the frame relative to its parent. The transform is calculated for the joint values of state. The exact implementation of getTransform() depends on the type of frame.
void	multiplyJointTransform(Transform3D parent, Q q, Transform3D result)	Post-multiply the transform of the joint to the parent transform. The transform is calculated for the joint values of q. This method is equivalent to Frame::multiplyTransform except that is operates directly on a joint vector instead of a State.
void	removeJointMapping()	removes mapping of joint values
void	setFixedTransform(Transform3D t3d)	change the transform from parent to joint base.
void	setJointMapping(SWIGTYPE_p_rw__math__Function1DiffT_double_double_double_t__Ptr 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_models.Joint

getBounds, getCPtr, getMaxAcceleration, getMaxVelocity, isActive, setActive, setBounds, setBounds, setMaxAcceleration, setMaxVelocity

Methods inherited from class org.robwork.sdurw_kinematics.Frame

attachTo, equals, fTf, getChildren, getChildren, getChildrenList, getCPtr, getDafChildren, getDafParent, getDOF, getParent, getParent, getPropertyMap, isDAF, multiplyTransform, notEqual, toString, wTf

Methods inherited from class org.robwork.sdurw_kinematics.StateData

equals, getCache, getCPtr, getData, getDefaultCache, getID, getName, getStateStructure, hasCache, notEqual, setCache, setData, setData, size

Methods inherited from class java.lang.Object

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

Constructor Detail

RevoluteJoint

public RevoluteJoint(long cPtr,
                     boolean cMemoryOwn)

RevoluteJoint

public RevoluteJoint(java.lang.String name,
                     Transform3D transform)

Constructs RevoluteJoint

Parameters:

name - [in] Name of the joints

transform - [in] Static transform of the joint

Method Detail

getCPtr

public static long getCPtr(RevoluteJoint obj)

delete

public void delete()

Overrides:

delete in class Joint

multiplyJointTransform

public void multiplyJointTransform(Transform3D parent,
                                   Q q,
                                   Transform3D result)

Post-multiply the transform of the joint to the parent transform.

The transform is calculated for the joint values of q.

This method is equivalent to Frame::multiplyTransform except that is operates
directly on a joint vector instead of a State.

Parameters:

parent - [in] The world transform of the parent frame.

q - [in] Joint values for the joint

result - [in] The transform of the frame in the world frame.

getJointTransform

public Transform3D getJointTransform(double q)

The transform of the joint relative to its parent.

The transform is calculated for the joint values of state.

This method is equivalent to Frame::multiplyTransform except that is operates
directly on a joint vector instead of a State.

Parameters:

q - [in] Joint values for the joint

Returns:

The transform of the frame relative to its displacement transform.

getTransform

public Transform3D getTransform(double q)

The transform of the joint relative to its parent.

The transform is calculated for the joint values of state.

This method is equivalent to Frame::multiplyTransform except that is operates
directly on a joint vector instead of a State.

Parameters:

q - [in] Joint values for the joint

Returns:

The transform of the frame relative to its parent frame.

getTransform

public Transform3D getTransform(State state)

The transform of the frame relative to its parent.

The transform is calculated for the joint values of state.

The exact implementation of getTransform() depends on the type of
frame. See for example RevoluteJoint and PrismaticJoint.

Overrides:

getTransform in class Frame

Parameters:

state - [in] Joint values for the forward kinematics tree.

Returns:

The transform of the frame relative to its parent.

getFixedTransform

public Transform3D 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

getJacobian

public void getJacobian(long row,
                        long col,
                        Transform3D joint,
                        Transform3D 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.

setFixedTransform

public void setFixedTransform(Transform3D 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 Transform3D 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__math__Function1DiffT_double_double_double_t__Ptr 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