ParallelLeg Class Reference

Class representing a single leg in a ParallelDevice. More...

#include <ParallelLeg.hpp>

Public Types
typedef rw::core::Ptr< ParallelLeg >	Ptr
	smart pointer type to this class

Public Member Functions
	ParallelLeg (std::vector< rw::kinematics::Frame * > frames)
	Constructs leg from frames. More...
	ParallelLeg (std::vector< rw::core::Ptr< rw::kinematics::Frame >> frames)
	Constructs leg from frames. More...
virtual	~ParallelLeg ()
	Destructor.
const rw::math::Jacobian &	baseJend (const rw::kinematics::State &state)
	Returns the base to end Jacobian. More...
rw::math::Jacobian	baseJframe (rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &state) const
	Returns the Jacobian of frame relative to base frame. More...
rw::math::Transform3D< double >	baseTend (const rw::kinematics::State &state) const
	Returns the base to end transformation. More...
rw::math::Transform3D< double >	baseTframe (rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &state) const
	Returns the transformation of a frame relative to the base. More...
const std::vector< rw::kinematics::Frame * > &	getKinematicChain () const
	Returns the kinematic chain of the leg. More...
rw::kinematics::Frame *	getBase ()
	the base of the leg More...
rw::kinematics::Frame *	getEnd ()
	the end of the leg More...
size_t	nrOfActiveJoints ()
	Number of active joints. More...
size_t	nrOfPassiveJoints ()
	Number of passive joints. More...
size_t	nrOfJoints ()
	Number of joints (both active and passive) More...
const std::vector< models::Joint * > &	getActuatedJoints ()
	Returns list of the actuated (active) joints. More...
const std::vector< models::Joint * > &	getUnactuatedJoints ()
	Returns list of unactuated (passive) joints. More...
std::size_t	getJointDOFs () const
	Get the total degrees of freedom (includes both active and passive joints). More...
rw::math::Q	getQ (const rw::kinematics::State &state) const
	Get configuration of the leg. More...
void	setQ (const rw::math::Q &q, rw::kinematics::State &state) const
	Sets q for the leg in the state. More...

Detailed Description

Class representing a single leg in a ParallelDevice.

Constructor & Destructor Documentation

ParallelLeg() [1/2]

ParallelLeg

(

std::vector< rw::kinematics::Frame * >

frames

)

Constructs leg from frames.

Parameters

frames

[in] list of Frame's

ParallelLeg() [2/2]

ParallelLeg

(

std::vector< rw::core::Ptr< rw::kinematics::Frame >>

frames

)

Constructs leg from frames.

Parameters

frames

[in] list of Frame's

Member Function Documentation

baseJend()

const rw::math::Jacobian& baseJend

(

const rw::kinematics::State &

state

)

Returns the base to end Jacobian.

Parameters

state

[in] State for which to calculate the Jacobian

Returns

the Jacobian

baseJframe()

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

Returns the Jacobian of frame relative to base frame.

Parameters

frame	[in] the frame to find Jacobian for.
state	[in] State for which to calculate the Jacobian

Returns

the Jacobian

baseTend()

rw::math::Transform3D<double> baseTend

(

const rw::kinematics::State &

state

)

const

Returns the base to end transformation.

Parameters

state

[in] State for which to calculate the transform

Returns

the transform

baseTframe()

rw::math::Transform3D<double> baseTframe	(	rw::core::Ptr< const rw::kinematics::Frame >	frame,
		const rw::kinematics::State &	state
	)		const

Returns the transformation of a frame relative to the base.

Parameters

frame	[in] the frame to find transformation to.
state	[in] State for which to calculate the transform

Returns

the transform

getActuatedJoints()

const std::vector<models::Joint*>& getActuatedJoints ( )

inline

Returns list of the actuated (active) joints.

Returns

list of joints

getBase()

rw::kinematics::Frame* getBase

(

)

the base of the leg

Returns

the frame

getEnd()

rw::kinematics::Frame* getEnd

(

)

the end of the leg

Returns

the frame

getJointDOFs()

std::size_t getJointDOFs

(

)

const

Get the total degrees of freedom (includes both active and passive joints).

Returns

the total degrees of freedom.

getKinematicChain()

const std::vector<rw::kinematics::Frame*>& getKinematicChain

(

)

const

Returns the kinematic chain of the leg.

Returns

list of frames

getQ()

rw::math::Q getQ

(

const rw::kinematics::State &

state

)

const

Get configuration of the leg.

Parameters

state

[in] the state with the configuration values.

Returns

the configuration.

getUnactuatedJoints()

const std::vector<models::Joint*>& getUnactuatedJoints ( )

inline

Returns list of unactuated (passive) joints.

Returns

list of joints

nrOfActiveJoints()

size_t nrOfActiveJoints

(

)

Number of active joints.

Returns

number of active joints

nrOfJoints()

size_t nrOfJoints ( )

inline

Number of joints (both active and passive)

Returns

number of joints

nrOfPassiveJoints()

size_t nrOfPassiveJoints

(

)

Number of passive joints.

Returns

number of passive joints

setQ()

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

Sets q for the leg in the state.

Parameters

q	[in] q to set
state	[out] the State to modify

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

• ParallelLeg.hpp