Package org.robwork.sdurw_models

Class VirtualJoint

java.lang.Object

org.robwork.sdurw_kinematics.StateData

org.robwork.sdurw_kinematics.Frame

org.robwork.sdurw_models.Joint

org.robwork.sdurw_models.VirtualJoint

public class VirtualJoint
extends Joint

Virtuals joints.

VirtualJoint is a joint with a role similar to a rw::kinematics::FixedFrame with
an optional number of dof allocated in the state.

Virtual joints are useful when you want a store joint values of e.g.
a number of passive joints.

Constructor Summary

Constructors

Constructor	Description
VirtualJoint(long cPtr, boolean cMemoryOwn)
VirtualJoint(java.lang.String name, Transform3D transform, long dof)	A virtual joint with a displacement transform of transform.

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(VirtualJoint 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(State state)	get the isolated joint transformation which is purely dependent on q.
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, getTransform, 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

VirtualJoint

public VirtualJoint(long cPtr,
                    boolean cMemoryOwn)

VirtualJoint

public VirtualJoint(java.lang.String name,
                    Transform3D transform,
                    long dof)

A virtual joint with a displacement transform of transform.

Parameters:

name - [in] The name of the frame.

transform - [in] The displacement transform of the joint.

dof - [in] Number of degrees of freedom of the joint

Method Detail

getCPtr

public static long getCPtr(VirtualJoint obj)

delete

public void delete()

Overrides:

delete in class 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.

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

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