RobWorkProject  24.5.15-
Public Member Functions | List of all members
MobileDevice Class Reference

Provides a differential controlled mobile device. More...

#include <MobileDevice.hpp>

Inherits Device.

Public Member Functions

 MobileDevice (rw::kinematics::MovableFrame *base, RevoluteJoint *wheel1, RevoluteJoint *wheel2, rw::kinematics::State &state, const std::string &name)
 Constructs a mobile device. More...
 
virtual ~MobileDevice ()
 Destructor.
 
void setDevicePose (const rw::math::Transform3D<> &transform, rw::kinematics::State &state)
 Sets the position and orientation of the base. More...
 
virtual void setQ (const rw::math::Q &q, rw::kinematics::State &state) const
 Sets configuration vector \( \mathbf{q} \in \mathbb{R}^n \). More...
 
virtual rw::math::Q getQ (const rw::kinematics::State &state) const
 Gets configuration vector \( \mathbf{q}\in \mathbb{R}^n \). More...
 
virtual std::pair< rw::math::Q, rw::math::QgetBounds () const
 Returns the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space. More...
 
virtual void setBounds (const std::pair< rw::math::Q, rw::math::Q > &bounds)
 Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space. More...
 
virtual rw::math::Q getVelocityLimits () const
 Returns the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...
 
virtual void setVelocityLimits (const rw::math::Q &vellimits)
 Sets the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...
 
virtual rw::math::Q getAccelerationLimits () const
 Returns the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). More...
 
virtual void setAccelerationLimits (const rw::math::Q &acclimits)
 Sets the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). More...
 
virtual size_t getDOF () const
 Returns number of active joints. More...
 
virtual rw::kinematics::FramegetBase ()
 a method to return the frame of the base of the device. More...
 
virtual const rw::kinematics::FramegetBase () const
 a method to return the frame of the base of the device. More...
 
virtual rw::kinematics::FramegetEnd ()
 a method to return the frame of the end of the device More...
 
virtual const rw::kinematics::FramegetEnd () const
 a method to return the frame of the end of the device More...
 
virtual rw::math::Jacobian baseJend (const rw::kinematics::State &state) const
 Calculates the jacobian matrix of the end-effector described in the robot base frame \( ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \). More...
 
virtual rw::math::Jacobian baseJframe (const rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &state) const
 Calculates the jacobian matrix of a frame f described in the robot base frame \( ^{base}_{frame}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \). More...
 
virtual rw::math::Jacobian baseJframes (const std::vector< rw::kinematics::Frame * > &frames, const rw::kinematics::State &state) const
 The Jacobian for a sequence of frames. More...
 
virtual rw::core::Ptr< rw::models::JacobianCalculatorbaseJCframes (const std::vector< rw::kinematics::Frame * > &frames, const rw::kinematics::State &state) const
 DeviceJacobian for a sequence of frames. More...
 
- Public Member Functions inherited from Device
 Device (const std::string &name)
 
virtual ~Device ()
 Virtual destructor.
 
virtual void setBounds (const QBox &bounds)=0
 Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space. More...
 
const std::string & getName () const
 Returns the name of the device. More...
 
void setName (const std::string &name)
 Sets the name of the Device. More...
 
rw::math::Transform3D< double > baseTframe (rw::core::Ptr< const rw::kinematics::Frame > f, const rw::kinematics::State &state) const
 Calculates the homogeneous transform from base to a frame f \( \robabx{b}{f}{\mathbf{T}} \). More...
 
rw::math::Transform3D< double > baseTend (const rw::kinematics::State &state) const
 Calculates the homogeneous transform from base to the end frame \( \robabx{base}{end}{\mathbf{T}} \). More...
 
rw::math::Transform3D< double > worldTbase (const rw::kinematics::State &state) const
 Calculates the homogeneous transform from world to base \( \robabx{w}{b}{\mathbf{T}} \). More...
 
virtual rw::core::Ptr< rw::models::JacobianCalculatorbaseJCend (const rw::kinematics::State &state) const
 DeviceJacobian for the end frame. More...
 
virtual rw::core::Ptr< rw::models::JacobianCalculatorbaseJCframe (rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &state) const
 DeviceJacobian for a particular frame. More...
 
const rw::core::PropertyMapgetPropertyMap () const
 Miscellaneous properties of the device. More...
 
rw::core::PropertyMapgetPropertyMap ()
 Miscellaneous properties of the device. More...
 
- Public Member Functions inherited from Stateless
virtual ~Stateless ()
 destructor
 
virtual void registerIn (State &state)
 initialize this stateless data to a specific state More...
 
virtual void registerIn (StateStructure::Ptr state)
 register this stateless object in a statestructure.
 
virtual void unregister ()
 unregisters all state data of this stateless object
 
StateStructure::Ptr getStateStructure ()
 Get the state structure. More...
 
const StateStructure::Ptr getStateStructure () const
 Get the state structure. More...
 
bool isRegistered ()
 Check if object has registered its state. More...
 

Additional Inherited Members

- Public Types inherited from Device
typedef rw::core::Ptr< DevicePtr
 smart pointer type to this class
 
typedef rw::core::Ptr< const DeviceCPtr
 const smart pointer type to this class
 
typedef std::pair< rw::math::Q, rw::math::QQBox
 Lower and upper corner of a box shaped configuration space.
 
- Public Types inherited from Stateless
typedef rw::core::Ptr< StatelessPtr
 Smart pointer type for Stateless.
 
- Protected Member Functions inherited from Stateless
 Stateless ()
 constructor
 
template<class T >
void add (StatelessData< T > &data)
 implementations of sensor should add all their stateless data on initialization
 
void add (StateData *data)
 Add data. More...
 
void add (rw::core::Ptr< StateData > data)
 implementations of sensor should add all their state data on initialization
 
- Protected Attributes inherited from Stateless
bool _registered
 True if object has registered its state.
 
std::vector< rw::core::Ptr< StateData > > _datas
 Data.
 
StateStructure::Ptr _stateStruct
 The state structure.
 

Detailed Description

Provides a differential controlled mobile device.

The MobileDevice class provides a differential controlled mobile device with non-holonomic constraints. The \( x\) direction is defined as straight forward and \( z\) vertically up. The wheels are assumed to be positioned summetrically around the base and have \( 0\) \( x\) component.

When using setQ it takes 2 parameters, which corresponds to the distances travelled by the wheels. Based on this input and the current pose of the device it calcualtes a new pose as.

Constructor & Destructor Documentation

◆ MobileDevice()

MobileDevice ( rw::kinematics::MovableFrame base,
RevoluteJoint wheel1,
RevoluteJoint wheel2,
rw::kinematics::State state,
const std::string &  name 
)

Constructs a mobile device.

Parameters
base[in] the base of the device
wheel1[in] the left wheel
wheel2[in] the right wheel
state[in] the state of the device
name[in] name of device

Member Function Documentation

◆ baseJCframes()

virtual rw::core::Ptr<rw::models::JacobianCalculator> baseJCframes ( const std::vector< rw::kinematics::Frame * > &  frames,
const rw::kinematics::State state 
) const
virtual

DeviceJacobian for a sequence of frames.

Not implemented.

Implements Device.

◆ baseJend()

virtual rw::math::Jacobian baseJend ( const rw::kinematics::State state) const
virtual

Calculates the jacobian matrix of the end-effector described in the robot base frame \( ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \).

Parameters
state[in] State for which to calculate the Jacobian
Returns
the \( 6*ndof \) jacobian matrix: \( {^{base}_{end}}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \)

This method calculates the jacobian relating joint velocities ( \( \mathbf{\dot{q}} \)) to the end-effector velocity seen from base-frame ( \( \nu^{ase}_{end} \))

\[ \nu^{base}_{end} = {^{base}_{end}}\mathbf{J}_\mathbf{q}(\mathbf{q})\mathbf{\dot{q}} \]

The jacobian matrix

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \]

is defined as:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^{base}\mathbf{x}_n}{\partial \mathbf{q}} \]

Where:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \left[ \begin{array}{cccc} {^{base}_1}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) & {^{base}_2}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) & \cdots & {^b_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \\ \end{array} \right] \]

where \( {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \) is defined by

\[ {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \times {^{i}\mathbf{p}_n} \\ {^{base}}\mathbf{z}_i \\ \end{array} \right] & \textrm{revolute joint} \end{array} \]

\[ {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \\ \mathbf{0} \\ \end{array} \right] & \textrm{prismatic joint} \\ \end{array} \]

By default the method forwards to baseJframe().

Implements Device.

◆ baseJframe()

virtual rw::math::Jacobian baseJframe ( const rw::core::Ptr< const rw::kinematics::Frame frame,
const rw::kinematics::State state 
) const
virtual

Calculates the jacobian matrix of a frame f described in the robot base frame \( ^{base}_{frame}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \).

Parameters
frame[in] Frame for which to calculate the Jacobian
state[in] State for which to calculate the Jacobian
Returns
the \( 6*ndof \) jacobian matrix: \( {^{base}_{frame}}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \)

This method calculates the jacobian relating joint velocities ( \( \mathbf{\dot{q}} \)) to the frame f velocity seen from base-frame ( \( \nu^{base}_{frame} \))

\[ \nu^{base}_{frame} = {^{base}_{frame}}\mathbf{J}_\mathbf{q}(\mathbf{q})\mathbf{\dot{q}} \]

The jacobian matrix

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \]

is defined as:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^{base}\mathbf{x}_n}{\partial \mathbf{q}} \]

By default the method forwards to baseJframes(). Not implemented.

Reimplemented from Device.

◆ baseJframes()

virtual rw::math::Jacobian baseJframes ( const std::vector< rw::kinematics::Frame * > &  frames,
const rw::kinematics::State state 
) const
virtual

The Jacobian for a sequence of frames.

A Jacobian is computed for each of the frames and the Jacobians are stacked on top of eachother.

Parameters
frames[in] the frames to calculate the frames from
state[in] the state to calculate in
Returns
the jacobian Not implemented.

Reimplemented from Device.

◆ getAccelerationLimits()

virtual rw::math::Q getAccelerationLimits ( ) const
virtual

Returns the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}\)

Returns
the maximal acceleration

Implements Device.

◆ getBase() [1/2]

virtual rw::kinematics::Frame* getBase ( )
virtual

a method to return the frame of the base of the device.

Returns
the base frame

Implements Device.

◆ getBase() [2/2]

virtual const rw::kinematics::Frame* getBase ( ) const
virtual

a method to return the frame of the base of the device.

Returns
the base frame

Implements Device.

◆ getBounds()

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

Returns the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space.

Returns
std::pair containing \( (\mathbf{q}_{min}, \mathbf{q}_{max}) \)

Implements Device.

◆ getDOF()

virtual size_t getDOF ( ) const
virtual

Returns number of active joints.

Returns
number of active joints \( n \)

Implements Device.

◆ getEnd() [1/2]

virtual rw::kinematics::Frame* getEnd ( )
virtual

a method to return the frame of the end of the device

Returns
the end frame

Implements Device.

◆ getEnd() [2/2]

virtual const rw::kinematics::Frame* getEnd ( ) const
virtual

a method to return the frame of the end of the device

Returns
the end frame

Implements Device.

◆ getQ()

virtual rw::math::Q getQ ( const rw::kinematics::State state) const
virtual

Gets configuration vector \( \mathbf{q}\in \mathbb{R}^n \).

Parameters
state[in] state from which which to get \( \mathbf{q} \)
Returns
configuration vector \( \mathbf{q} \)

Implements Device.

◆ getVelocityLimits()

virtual rw::math::Q getVelocityLimits ( ) const
virtual

Returns the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}\)

Returns
the maximal velocity

Implements Device.

◆ setAccelerationLimits()

virtual void setAccelerationLimits ( const rw::math::Q acclimits)
virtual

Sets the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}\)

Parameters
acclimits[in] the maximal acceleration

Implements Device.

◆ setBounds()

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

Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space.

Parameters
bounds[in] std::pair containing \( (\mathbf{q}_{min}, \mathbf{q}_{max}) \)

◆ setDevicePose()

void setDevicePose ( const rw::math::Transform3D<> &  transform,
rw::kinematics::State state 
)

Sets the position and orientation of the base.

This operation moves the base of the robot, without considering the non-holonomic constraints of the device

Parameters
transform[in] new base transform
state[in] state to write change to

◆ setQ()

virtual void setQ ( const rw::math::Q q,
rw::kinematics::State state 
) const
virtual

Sets configuration vector \( \mathbf{q} \in \mathbb{R}^n \).

Parameters
q[in] configuration vector \( \mathbf{q} \)
state[in] state into which to set \( \mathbf{q} \)
Precondition
q.size() == getDOF()

Implements Device.

◆ setVelocityLimits()

virtual void setVelocityLimits ( const rw::math::Q vellimits)
virtual

Sets the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}\)

Parameters
vellimits[in] Q with the maximal velocity

Implements Device.


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