DependentJoint Class Reference

Dependent joints are 0-dof joints for which the actual joints transformation depends on one of more other joints. More...

#include <DependentJoint.hpp>

Inherits Joint.

Inherited by DependentPrismaticJoint, and DependentRevoluteJoint.

Public Member Functions
virtual	~DependentJoint ()
	Destructor.
virtual bool	isControlledBy (const rw::models::Joint *joint) const =0
	Returns true if the DependentJoint is controlled by joint. More...
Public Member Functions inherited from Joint
virtual	~Joint ()
	Virtual destructor.
void	setBounds (const std::pair< const rw::math::Q, const rw::math::Q > &bounds)
	Sets joint bounds. More...
void	setBounds (const rw::math::Q &lower, const rw::math::Q &upper)
	Sets joint bounds. More...
const std::pair< rw::math::Q, rw::math::Q > &	getBounds () const
	Gets joint bounds. More...
void	setMaxVelocity (const rw::math::Q &maxVelocity)
	Sets max velocity of joint. More...
const rw::math::Q &	getMaxVelocity () const
	Gets max velocity of joint. More...
void	setMaxAcceleration (const rw::math::Q &maxAcceleration)
	Sets max acceleration of joint. More...
const rw::math::Q &	getMaxAcceleration () const
	Gets max acceleration of joint. More...
virtual void	getJacobian (size_t row, size_t col, const rw::math::Transform3D<> &joint, const rw::math::Transform3D<> &tcp, const rw::kinematics::State &state, rw::math::Jacobian &jacobian) const =0
	Finds the Jacobian of the joints and adds it in jacobian. More...
virtual rw::math::Transform3D	getFixedTransform () const =0
	get the fixed transform from parent to this joint More...
virtual void	setFixedTransform (const rw::math::Transform3D<> &t3d)=0
	change the transform from parent to joint base. More...
virtual rw::math::Transform3D	getJointTransform (const rw::kinematics::State &state) const =0
	get the isolated joint transformation which is purely dependent on q. More...
void	setActive (bool isActive)
	set the active state of the joint More...
bool	isActive () const
	a joint is active if its motorized/controlled in some fasion. passive or non-active joints are typically used in parrallel robots. More...
virtual void	setJointMapping (rw::math::Function1Diff<>::Ptr function)=0
	set the function to be used in transforming from the state q to the actual q needed. More...
virtual void	removeJointMapping ()=0
	removes mapping of joint values
Public Member Functions inherited from Frame
virtual	~Frame ()
	Destructor for the frame.
void	multiplyTransform (const rw::math::Transform3D<> &parent, const rw::kinematics::State &state, rw::math::Transform3D<> &result) const
	Post-multiply the transform of the frame to the parent transform. More...
rw::math::Transform3D	getTransform (const rw::kinematics::State &state) const
	The transform of the frame relative to its parent. More...
const rw::core::PropertyMap &	getPropertyMap () const
	Miscellaneous properties of the frame. More...
rw::core::PropertyMap &	getPropertyMap ()
	Miscellaneous properties of the frame. More...
int	getDOF () const
	The number of degrees of freedom (dof) of the frame. More...
const rw::kinematics::Frame *	getParent () const
	The parent of the frame or NULL if the frame is a DAF.
rw::kinematics::Frame *	getParent ()
	The parent of the frame or NULL if the frame is a DAF.
rw::kinematics::Frame *	getParent (const rw::kinematics::State &state)
	Returns the parent of the frame. More...
const rw::kinematics::Frame *	getParent (const rw::kinematics::State &state) const
	Returns the parent of the frame. More...
const rw::kinematics::Frame *	getDafParent (const rw::kinematics::State &state) const
	The dynamically attached parent or NULL if the frame is not a DAF.
rw::kinematics::Frame *	getDafParent (const rw::kinematics::State &state)
	The dynamically attached parent or NULL if the frame is not a DAF. More...
const_iterator_pair	getChildren () const
	Iterator pair for the fixed children of the frame.
iterator_pair	getChildren ()
	Iterator pair for the fixed children of the frame. More...
const_iterator_pair	getChildren (const rw::kinematics::State &state) const
	Iterator pair for all children of the frame.
iterator_pair	getChildren (const rw::kinematics::State &state)
	Iterator pair for all children of the frame.
std::vector< Frame::Ptr >	getChildrenList (const rw::kinematics::State &state)
	get a list of all frame children More...
const_iterator_pair	getDafChildren (const rw::kinematics::State &state) const
	Iterator pair for the dynamically attached children of the frame.
iterator_pair	getDafChildren (const rw::kinematics::State &state)
	Iterator pair for the dynamically attached children of the frame. More...
void	attachTo (const Ptr &parent, rw::kinematics::State &state)
	Move a frame within the tree. More...
bool	isDAF ()
	Test if this frame is a Dynamically Attachable Frame. More...
rw::math::Transform3D	wTf (const rw::kinematics::State &state) const
	Get the transform relative to world. More...
rw::math::Transform3D	fTf (const CPtr &to, const rw::kinematics::State &state) const
	Get the transform of other frame relative to this frame. More...
bool	operator== (const Frame &rhs)
	Compares the Frame to see if they are the same Checks the statedata, parent frame and chld frame. More...
bool	operator!= (const Frame &rhs)
	Check if not equal. More...
Public Member Functions inherited from StateData
virtual	~StateData ()
	destructor
int	getID () const
	An integer ID for the StateData. More...
const std::string &	getName () const
	The name of the state data. More...
int	size () const
	The number of doubles allocated by this StateData in each State object. More...
const double *	getData (const rw::kinematics::State &state) const
	An array of length size() containing the values for the state data. More...
double *	getData (rw::kinematics::State &state)
	An array of length size() containing the values for the state data. More...
void	setData (rw::kinematics::State &state, const double *vals) const
	Assign for state data the size() of values of the array vals. More...
void	setData (rw::kinematics::State &state, const std::vector< double > &vals) const
	Assign for state data the size() of values of the array vals. More...
void	setData (rw::kinematics::State &state, const double &val) const
	Assign for state data the size() of values of the array vals. More...
bool	hasCache () const
	Check is state data includes a cache. More...
rw::core::Ptr< rw::kinematics::StateCache >	getCache (const rw::kinematics::State &state) const
	Get the cache. More...
rw::core::Ptr< rw::kinematics::StateCache >	getCache (rw::kinematics::State &state)
	Get the cache. . More...
rw::core::Ptr< rw::kinematics::StateCache >	getDefaultCache ()
	Get default cache. More...
void	setCache (rw::core::Ptr< rw::kinematics::StateCache > cache, rw::kinematics::State &state)
	Set the cache values. More...
class rw::kinematics::StateStructure *	getStateStructure ()
	Get the state structure. More...
bool	operator== (const StateData &rhs)
	Compares the state data to see if they are the same Checks the ID, name and which statetrucure they belong to. More...
bool	operator!= (const StateData &rhs)
	Check if not equal. More...
	StateData (int size, const std::string &name)
	A state with size number of doubles in the State vector. More...
	StateData (int size, const std::string &name, rw::core::Ptr< rw::kinematics::StateCache > cache)
	A state with size number of doubles in the State vector. More...

Protected Member Functions
	DependentJoint (const std::string &name)
	Constructs DependentJoint. More...
Protected Member Functions inherited from Joint
	Joint (const std::string &name, size_t dof)
	Default constructor for the joint interface. More...
	Joint (const std::string &name, size_t dof, size_t stateSize)
	constructor - with the possiblity of adding additional states than the dofs. More...
Protected Member Functions inherited from Frame
	Frame (int dof, const std::string &name)
	A frame with dof number of degrees of freedom. More...
virtual void	doMultiplyTransform (const rw::math::Transform3D<> &parent, const rw::kinematics::State &state, rw::math::Transform3D<> &result) const =0
	Subclass implementation of the getTransform() method.
virtual rw::math::Transform3D	doGetTransform (const rw::kinematics::State &state) const =0

Additional Inherited Members
Public Types inherited from Joint
typedef rw::core::Ptr< Joint >	Ptr
	smart pointer type to this class
Public Types inherited from Frame
typedef rw::core::Ptr< Frame >	Ptr
	Smart pointer type for a Frame object.
typedef rw::core::Ptr< const Frame >	CPtr
	Smart pointer type for a constant Frame object.
typedef rw::common::ConcatVectorIterator< Frame >	iterator
	Forward iterator for frames.
typedef rw::common::ConstConcatVectorIterator< Frame >	const_iterator
	Forward iterator for const frames.
typedef rw::core::iter_pair< iterator >	iterator_pair
	Pair of iterators.
typedef rw::core::iter_pair< const_iterator >	const_iterator_pair
	Pair of const iterators.

Detailed Description

Dependent joints are 0-dof joints for which the actual joints transformation depends on one of more other joints.

DependentJoint is an abstract class from which all dependent joints should inherit.

Constructor & Destructor Documentation

DependentJoint()

DependentJoint ( const std::string &  name )

protected

Constructs DependentJoint.

Parameters

name	[in] Name of the joints

Member Function Documentation

isControlledBy()

virtual bool isControlledBy ( const rw::models::Joint *  joint ) const

pure virtual

Returns true if the DependentJoint is controlled by joint.

A DependentJoint may depend on more than one joints.

Parameters

joint

[in] Joints to test with

Returns

True if this is controlled by joint

Implemented in DependentRevoluteJoint, and DependentPrismaticJoint.

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The documentation for this class was generated from the following file:

• DependentJoint.hpp