Package org.robwork.sdurw_models

Class JointCPtr

java.lang.Object

org.robwork.sdurw_models.JointCPtr

public class JointCPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
JointCPtr()	Default constructor yielding a NULL-pointer.
JointCPtr(long cPtr, boolean cMemoryOwn)
JointCPtr(Joint ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
Joint	__ref__()	Dereferencing operator.
void	delete()
Joint	deref()	The pointer stored in the object.
boolean	equals(Joint p)
Transform3D	fTf(FrameCPtr to, State state)	Get the transform of other frame relative to this frame.
PairQ	getBounds()	Gets joint bounds
StateCachePtr	getCache(State state)	Get the cache.
static long	getCPtr(JointCPtr obj)
Joint	getDeref()	Member access operator.
int	getDOF()	The number of degrees of freedom (dof) of the frame. The dof is the number of joint values that are used for controlling the frame. Given a set joint values of type State, the getDof() number of joint values for the frame can be read and written with State::getQ() and State::setQ().
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.
int	getID()	An integer ID for the StateData. IDs are assigned to the state data upon insertion State. StateData that are not in a State have an ID of -1. StateData present in different trees may have identical IDs. IDs are used for the efficient implementation of State.
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(State state)	get the isolated joint transformation which is purely dependent on q.
Q	getMaxAcceleration()	Gets max acceleration of joint
Q	getMaxVelocity()	Gets max velocity of joint
java.lang.String	getName()	The name of the state data.
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.
boolean	hasCache()	Check is state data includes a cache.
boolean	isActive()	a joint is active if its motorized/controlled in some fasion.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
void	multiplyTransform(Transform3D parent, State state, Transform3D result)	Post-multiply the transform of the frame to the parent transform. The transform is calculated for the joint values of state. The exact implementation of getTransform() depends on the type of frame.
void	setData(State state, double val)	Assign for state data the size() of values of the array vals. The array vals must be of length at least size().
void	setData(State state, vector_d vals)	Assign for state data the size() of values of the array vals. The array vals must be of length at least size().
int	size()	The number of doubles allocated by this StateData in each State object.
Transform3D	wTf(State state)	Get the transform relative to world.

Methods inherited from class java.lang.Object

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

Constructor Detail

JointCPtr

public JointCPtr(long cPtr,
                 boolean cMemoryOwn)

JointCPtr

public JointCPtr()

Default constructor yielding a NULL-pointer.

JointCPtr

public JointCPtr(Joint ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(JointCPtr obj)

delete

public void delete()

deref

public Joint deref()

The pointer stored in the object.

__ref__

public Joint __ref__()

Dereferencing operator.

getDeref

public Joint getDeref()

Member access operator.

equals

public boolean equals(Joint p)

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.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

getBounds

public PairQ getBounds()

Gets joint bounds

Returns:

the lower and upper bound of this joint

getMaxVelocity

public Q getMaxVelocity()

Gets max velocity of joint

Returns:

the maximum velocity of the joint

getMaxAcceleration

public Q getMaxAcceleration()

Gets max acceleration of joint

Returns:

the maximum acceleration of the joint

getJacobian

public 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).

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.

getFixedTransform

public 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.

Returns:

fixed part of transform from paretn to joint

getJointTransform

public Transform3D getJointTransform(State state)

get the isolated joint transformation which is purely dependent on
q.

Parameters:

state - [in] the state from which to extract q

Returns:

the joint transformation

isActive

public boolean isActive()

a joint is active if its motorized/controlled in some
fasion. passive or non-active joints are typically used in parrallel robots.

Returns:

multiplyTransform

public void multiplyTransform(Transform3D parent,
                              State state,
                              Transform3D result)

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

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.

Parameters:

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

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

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

Parameters:

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

Returns:

The transform of the frame relative to its parent.

getDOF

public int getDOF()

The number of degrees of freedom (dof) of the frame.

The dof is the number of joint values that are used for controlling
the frame.

Given a set joint values of type State, the getDof() number of joint
values for the frame can be read and written with State::getQ() and
State::setQ().

Returns:

The number of degrees of freedom of the frame.

wTf

public Transform3D wTf(State state)

Get the transform relative to world.

Parameters:

state - [in] the state.

Returns:

transform relative to world.

fTf

public Transform3D fTf(FrameCPtr to,
                       State state)

Get the transform of other frame relative to this frame.

Parameters:

to - [in] the other frame

state - [in] the state.

Returns:

transform of frame to relative to this frame.

getID

public int getID()

An integer ID for the StateData.

IDs are assigned to the state data upon insertion State.
StateData that are not in a State have an ID of -1.

StateData present in different trees may have identical IDs.

IDs are used for the efficient implementation of State. Normally,
you should not make use of StateData IDs yourself.

Returns:

An integer ID for the frame.

getName

public java.lang.String getName()

The name of the state data.

Returns:

The name of the state data.

size

public int size()

The number of doubles allocated by this StateData in
each State object.

Returns:

The number of doubles allocated by the StateData

setData

public void setData(State state,
                    vector_d vals)

Assign for state data the size() of values of the array
vals.

The array vals must be of length at least size().

Parameters:

state - [inout] The state to which vals are written.

vals - [in] The joint values to assign.

setData() and getData() are related as follows:
data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

setData

public void setData(State state,
                    double val)

Assign for state data the size() of values of the array
vals.

The array vals must be of length at least size().

Parameters:

state - [inout] The state to which vals are written.



setData() and getData() are related as follows:
data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

hasCache

public boolean hasCache()

Check is state data includes a cache.

Returns:

true if cache, false otherwise.

getCache

public StateCachePtr getCache(State state)

Get the cache.

Parameters:

state - [in] the state.

Returns:

the cache.