RobWorkProject: Joint Class Reference

A Joint is a Frame with assignable values for position, velocity limits and acceleration limits. More...

#include <Joint.hpp>

Inherits Frame.

Inherited by DependentJoint, PrismaticJoint, PrismaticSphericalJoint, PrismaticUniversalJoint, RevoluteJoint, SphericalJoint, UniversalJoint, and VirtualJoint.

Public Types
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.

Public Member Functions
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
	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

Detailed Description

A Joint is a Frame with assignable values for position, velocity limits and acceleration limits.

Constructor & Destructor Documentation

◆ Joint() [1/2]

Joint	(	const std::string &	name,
		size_t	dof
	)

protected

Default constructor for the joint interface.

Parameters

name	[in] The name of the frame.
dof	[in] the degrees of freedom of this joint

◆ Joint() [2/2]

Joint	(	const std::string &	name,
		size_t	dof,
		size_t	stateSize
	)

protected

constructor - with the possiblity of adding additional states than the dofs.

Parameters

name	[in] The name of the joint frame.
dof	[in] degree of freedom of the joint
stateSize	[in] additional doubles to allocate space for in the state

Member Function Documentation

◆ getBounds()

const std::pair<rw::math::Q, rw::math::Q>& getBounds ( ) const

inline

Gets joint bounds.

Returns: the lower and upper bound of this joint

◆ getFixedTransform()

virtual rw::math::Transform3D getFixedTransform ( ) const

pure virtual

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

Implemented in VirtualJoint, UniversalJoint, SphericalJoint, RevoluteJoint, PrismaticUniversalJoint, PrismaticSphericalJoint, PrismaticJoint, DependentRevoluteJoint, and DependentPrismaticJoint.

◆ getJacobian()

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

pure virtual

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.

Implemented in VirtualJoint, RevoluteJoint, PrismaticJoint, DependentRevoluteJoint, and DependentPrismaticJoint.

◆ getJointTransform()

virtual rw::math::Transform3D getJointTransform ( const rw::kinematics::State & state ) const

pure virtual

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

Implemented in VirtualJoint, UniversalJoint, SphericalJoint, RevoluteJoint, PrismaticUniversalJoint, PrismaticSphericalJoint, PrismaticJoint, DependentRevoluteJoint, and DependentPrismaticJoint.

◆ getMaxAcceleration()

const rw::math::Q& getMaxAcceleration ( ) const

inline

Gets max acceleration of joint.

Returns: the maximum acceleration of the joint

◆ getMaxVelocity()

const rw::math::Q& getMaxVelocity ( ) const

inline

Gets max velocity of joint.

Returns: the maximum velocity of the joint

◆ isActive()

bool isActive ( ) const

inline

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

Returns

◆ setActive()

void setActive ( bool isActive )

inline

set the active state of the joint

Parameters

isActive [in] true to enable control/motorization of joint, false otherwise

◆ setBounds() [1/2]

void setBounds	(	const rw::math::Q &	lower,
		const rw::math::Q &	upper
	)

inline

Sets joint bounds.

Parameters

lower	[in] the lower of this joint
upper	[in] the upper of this joint

◆ setBounds() [2/2]

void setBounds ( const std::pair< const rw::math::Q, const rw::math::Q > & bounds )

inline

Sets joint bounds.

Parameters

bounds [in] the lower and upper bounds of this joint

◆ setFixedTransform()

virtual void setFixedTransform ( const rw::math::Transform3D<> & t3d )

pure virtual

change the transform from parent to joint base.

Parameters

t3d	[in] the new transform.

Implemented in VirtualJoint, UniversalJoint, SphericalJoint, RevoluteJoint, PrismaticUniversalJoint, PrismaticSphericalJoint, PrismaticJoint, DependentRevoluteJoint, and DependentPrismaticJoint.

◆ setJointMapping()

virtual void setJointMapping ( rw::math::Function1Diff<>::Ptr function )

pure virtual

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.

Parameters

function [in] function with first order derivative.

Implemented in VirtualJoint, UniversalJoint, SphericalJoint, RevoluteJoint, PrismaticUniversalJoint, PrismaticSphericalJoint, PrismaticJoint, DependentRevoluteJoint, and DependentPrismaticJoint.

◆ setMaxAcceleration()

void setMaxAcceleration ( const rw::math::Q & maxAcceleration )

inline

Sets max acceleration of joint.

Parameters

maxAcceleration [in] the new maximum acceleration of the joint

◆ setMaxVelocity()

void setMaxVelocity ( const rw::math::Q & maxVelocity )

inline

Sets max velocity of joint.

Parameters

maxVelocity [in] the new maximum velocity of the joint

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

Joint.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Joint() [1/2]

◆ Joint() [2/2]

Member Function Documentation

◆ getBounds()

◆ getFixedTransform()

◆ getJacobian()

◆ getJointTransform()

◆ getMaxAcceleration()

◆ getMaxVelocity()

◆ isActive()

◆ setActive()

◆ setBounds() [1/2]

◆ setBounds() [2/2]

◆ setFixedTransform()

◆ setJointMapping()

◆ setMaxAcceleration()

◆ setMaxVelocity()