Package org.robwork.sdurw_models
Class TreeDevice
- java.lang.Object
-
- org.robwork.sdurw_kinematics.Stateless
-
- org.robwork.sdurw_models.Device
-
- org.robwork.sdurw_models.JointDevice
-
- org.robwork.sdurw_models.TreeDevice
-
public class TreeDevice extends JointDevice
A tree structured device
This device type defines devices that are tree-structured, with multiple end effectors.
Typical for dexterous hands, and multi-armed robots.
-
-
Constructor Summary
Constructors Constructor Description TreeDevice(long cPtr, boolean cMemoryOwn)
TreeDevice(FramePtr base, FrameVector ends, java.lang.String name, State state)
Constructor
-
Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description Jacobian
baseJends(State state)
like Device::baseJend() but with a Jacobian calculated for all
end effectors.void
delete()
FrameVector
frames()
Frames of the device.
This method is being used when displaying the kinematic structure of
devices in RobWorkStudio.static long
getCPtr(TreeDevice obj)
Frame
getEnd()
a method to return the frame of the end of the deviceFrameVector
getEnds()
The end-effectors of the tree device.-
Methods inherited from class org.robwork.sdurw_models.JointDevice
baseJCframes, baseJend, getAccelerationLimits, getBase, getBounds, getCPtr, getDOF, getJoints, getQ, getVelocityLimits, setAccelerationLimits, setBounds, setQ, 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
-
-
-
-
Constructor Detail
-
TreeDevice
public TreeDevice(long cPtr, boolean cMemoryOwn)
-
TreeDevice
public TreeDevice(FramePtr base, FrameVector ends, java.lang.String name, State state)
Constructor
- Parameters:
base
- [in] the base frame of the robotends
- [in] the set of end-effectors of the robotname
- [in] name of devicestate
- [in] the initial state of everything
-
-
Method Detail
-
getCPtr
public static long getCPtr(TreeDevice obj)
-
delete
public void delete()
- Overrides:
delete
in classJointDevice
-
baseJends
public Jacobian baseJends(State state)
like Device::baseJend() but with a Jacobian calculated for all
end effectors.
-
getEnds
public FrameVector getEnds()
The end-effectors of the tree device.
-
getEnd
public Frame getEnd()
Description copied from class:Device
a method to return the frame of the end of the device- Overrides:
getEnd
in classJointDevice
- Returns:
- the end frame
-
frames
public FrameVector frames()
Frames of the device.
This method is being used when displaying the kinematic structure of
devices in RobWorkStudio. The method really isn't of much use for
everyday programming.
-
-