Package org.robwork.sdurwsim

Class SerialDeviceController

  • public class SerialDeviceController
extends java.lang.Object

    • Constructor Summary

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

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      java.lang.String getControllerName()  
      static long getCPtr​(SerialDeviceController obj)  
      Q getQ()  
      Q getQd()  
      boolean isEnabled()  
      boolean isMoving()  
      boolean moveLin​(Transform3D target)
      move robot in a linear Cartesian path
      boolean moveLin​(Transform3D target, float speed)
      move robot in a linear Cartesian path
      boolean moveLin​(Transform3D target, float speed, float blend)
      move robot in a linear Cartesian path
      boolean movePTP​(Q target)
      move robot from point to point
      boolean movePTP​(Q target, float speed)
      move robot from point to point
      boolean movePTP​(Q target, float speed, float blend)
      move robot from point to point
      boolean movePTP_T​(Transform3D target)
      move robot from point to point but using a pose as target (require invkin)
      boolean movePTP_T​(Transform3D target, float speed)
      move robot from point to point but using a pose as target (require invkin)
      boolean movePTP_T​(Transform3D target, float speed, float blend)
      move robot from point to point but using a pose as target (require invkin)
      boolean moveVelQ​(Q target_joint_velocity)
      move robot in a servoing fasion
      boolean moveVelT​(VelocityScrew6D vel)  
      boolean pause()
      pause the robot, should be able to continue trajectory
      void reset​(State state)  
      void setEnabled​(boolean enabled)  
      boolean setSafeModeEnabled​(boolean enable)
      enable safe mode, so that robot stops when collisions are detected
      boolean stop()
      move robot with a hybrid position/force control hard stop the robot,

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • SerialDeviceController

        public SerialDeviceController​(long cPtr,
                              boolean cMemoryOwn)

    • Method Detail

      • delete

        public void delete()

      • moveLin

        public boolean moveLin​(Transform3D target,
                       float speed,
                       float blend)
        move robot in a linear Cartesian path

      • moveLin

        public boolean moveLin​(Transform3D target,
                       float speed)
        move robot in a linear Cartesian path

      • moveLin

        public boolean moveLin​(Transform3D target)
        move robot in a linear Cartesian path

      • movePTP

        public boolean movePTP​(Q target,
                       float speed,
                       float blend)
        move robot from point to point

      • movePTP

        public boolean movePTP​(Q target,
                       float speed)
        move robot from point to point

      • movePTP

        public boolean movePTP​(Q target)
        move robot from point to point

      • movePTP_T

        public boolean movePTP_T​(Transform3D target,
                         float speed,
                         float blend)
        move robot from point to point but using a pose as target (require invkin)

      • movePTP_T

        public boolean movePTP_T​(Transform3D target,
                         float speed)
        move robot from point to point but using a pose as target (require invkin)

      • movePTP_T

        public boolean movePTP_T​(Transform3D target)
        move robot from point to point but using a pose as target (require invkin)

      • moveVelQ

        public boolean moveVelQ​(Q target_joint_velocity)
        move robot in a servoing fasion

      • stop

        public boolean stop()
        move robot with a hybrid position/force control hard stop the robot,

      • pause

        public boolean pause()
        pause the robot, should be able to continue trajectory

      • setSafeModeEnabled

        public boolean setSafeModeEnabled​(boolean enable)
        enable safe mode, so that robot stops when collisions are detected

      • getQ

        public Q getQ()

      • getQd

        public Q getQd()

      • isMoving

        public boolean isMoving()

      • getControllerName

        public java.lang.String getControllerName()

      • reset

        public void reset​(State state)

      • setEnabled

        public void setEnabled​(boolean enabled)

      • isEnabled

        public boolean isEnabled()