Package org.robwork.sdurw_models
Class TreeDeviceCPtr
- java.lang.Object
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- org.robwork.sdurw_models.TreeDeviceCPtr
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public class TreeDeviceCPtr extends java.lang.Object
Ptr stores a pointer and optionally takes ownership of the value.
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Constructor Summary
Constructors Constructor Description TreeDeviceCPtr()
Default constructor yielding a NULL-pointer.TreeDeviceCPtr(long cPtr, boolean cMemoryOwn)
TreeDeviceCPtr(TreeDevice ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description TreeDevice
__ref__()
Dereferencing operator.JacobianCalculatorPtr
baseJCend(State state)
DeviceJacobian for the end frame.
By default this method forwards to baseDJframe().JacobianCalculatorPtr
baseJCframe(FrameCPtr frame, State state)
DeviceJacobian for a particular frame.
By default this method forwards to baseDJframes().JacobianCalculatorPtr
baseJCframes(FrameVector frames, State state)
Jacobian
baseJend(State state)
Jacobian
baseJends(State state)
like Device::baseJend() but with a Jacobian calculated for all
end effectors.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})
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.Transform3D
baseTend(State state)
Calculates the homogeneous transform from base to the end frame
\robabx{base}{end}{\mathbf{T}}Transform3D
baseTframe(FrameCPtr f, State state)
Calculates the homogeneous transform from base to a frame f
\robabx{b}{f}{\mathbf{T}}void
delete()
TreeDevice
deref()
The pointer stored in the object.boolean
equals(TreeDevice p)
FrameVector
frames()
Frames of the device.
This method is being used when displaying the kinematic structure of
devices in RobWorkStudio.Q
getAccelerationLimits()
PairQ
getBounds()
static long
getCPtr(TreeDeviceCPtr obj)
TreeDevice
getDeref()
Member access operator.long
getDOF()
FrameVector
getEnds()
The end-effectors of the tree device.VectorJoint_p
getJoints()
Get all joints of this devicejava.lang.String
getName()
Returns the name of the deviceQ
getQ(State state)
Q
getVelocityLimits()
boolean
isNull()
checks if the pointer is nullboolean
isShared()
check if this Ptr has shared ownership or none
ownershipvoid
setQ(Q q, State state)
Transform3D
worldTbase(State state)
Calculates the homogeneous transform from world to base \robabx{w}{b}{\mathbf{T}}
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Constructor Detail
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TreeDeviceCPtr
public TreeDeviceCPtr(long cPtr, boolean cMemoryOwn)
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TreeDeviceCPtr
public TreeDeviceCPtr()
Default constructor yielding a NULL-pointer.
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TreeDeviceCPtr
public TreeDeviceCPtr(TreeDevice ptr)
Do not take ownership of ptr.
ptr can be null.
The constructor is implicit on purpose.
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Method Detail
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getCPtr
public static long getCPtr(TreeDeviceCPtr obj)
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delete
public void delete()
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deref
public TreeDevice deref()
The pointer stored in the object.
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__ref__
public TreeDevice __ref__()
Dereferencing operator.
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getDeref
public TreeDevice getDeref()
Member access operator.
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equals
public boolean equals(TreeDevice p)
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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.
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isNull
public boolean isNull()
checks if the pointer is null- Returns:
- Returns true if the pointer is null
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baseJends
public Jacobian baseJends(State state)
like Device::baseJend() but with a Jacobian calculated for all
end effectors.
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getEnds
public FrameVector getEnds()
The end-effectors of the tree device.
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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.
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getJoints
public VectorJoint_p getJoints()
Get all joints of this device- Returns:
- all joints
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getDOF
public long getDOF()
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getBounds
public PairQ getBounds()
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getVelocityLimits
public Q getVelocityLimits()
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getAccelerationLimits
public Q getAccelerationLimits()
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baseJCframes
public JacobianCalculatorPtr baseJCframes(FrameVector frames, State state)
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getName
public java.lang.String getName()
Returns the name of the device- Returns:
- name of the device
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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}}
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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}}
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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}}
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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 Jacobianstate
- [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().
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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 fromstate
- [in] the state to calculate in- Returns:
- the jacobian
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baseJCend
public JacobianCalculatorPtr baseJCend(State state)
DeviceJacobian for the end frame.
By default this method forwards to baseDJframe().
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baseJCframe
public JacobianCalculatorPtr baseJCframe(FrameCPtr frame, State state)
DeviceJacobian for a particular frame.
By default this method forwards to baseDJframes().
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