RobWorkProject: SE3Device Class Reference

A Cartesian 6-Dof device. More...

#include <SE3Device.hpp>

Inherits Device.

Public Member Functions
	SE3Device (const std::string &name, rw::core::Ptr< rw::kinematics::Frame > base, rw::kinematics::MovableFrame *mframe)
	Constructor. More...

void	setQ (const rw::math::Q &q, rw::kinematics::State &state) const
	Sets configuration vector \( \mathbf{q} \in \mathbb{R}^n \). More...

rw::math::Q	getQ (const rw::kinematics::State &state) const
	Gets configuration vector \( \mathbf{q}\in \mathbb{R}^n \). More...

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

rw::kinematics::Frame *	getBase ()
	get base of the device More...

const rw::kinematics::Frame *	getBase () const
	get base of the device More...

rw::kinematics::Frame *	getEnd ()
	get end of the device More...

const rw::kinematics::Frame *	getEnd () const
	get end of the device More...

rw::math::Jacobian	baseJend (const rw::kinematics::State &state) const
	Calculates the jacobian matrix of the end-effector described in the robot base frame \( ^b_e\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \). More...

rw::core::Ptr< rw::models::JacobianCalculator >	baseJCframes (const std::vector< rw::kinematics::Frame * > &frames, const rw::kinematics::State &state) const
	DeviceJacobian for a sequence of frames.

size_t	getDOF () const
	Returns number of active joints. More...

virtual void	setBounds (const QBox &bounds)
	set outer bound of the device More...

virtual rw::math::Q	getVelocityLimits () const
	get the Joint velocity limit More...

virtual void	setVelocityLimits (const rw::math::Q &vellimits)
	set the Joint velocity limit More...

rw::math::Q	getAccelerationLimits () const
	get the Joint Acceleration limit More...

void	setAccelerationLimits (const rw::math::Q &acclimits)
	set the Joint Acceleration limit More...

Public Member Functions inherited from Device
	Device (const std::string &name)

virtual	~Device ()
	Virtual destructor.

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::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::JacobianCalculator >	baseJCend (const rw::kinematics::State &state) const
	DeviceJacobian for the end frame. More...

virtual rw::core::Ptr< rw::models::JacobianCalculator >	baseJCframe (rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &state) const
	DeviceJacobian for a particular frame. More...

const rw::core::PropertyMap &	getPropertyMap () const
	Miscellaneous properties of the device. More...

rw::core::PropertyMap &	getPropertyMap ()
	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< Device >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const Device >	CPtr
	const smart pointer type to this class

typedef std::pair< rw::math::Q, rw::math::Q >	QBox
	Lower and upper corner of a box shaped configuration space.

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	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

A Cartesian 6-Dof device.

The SE3Device is a 6-dof device with 6 independent inputs that enables the device to place its end-effector anywhere in the workspace.

The \( \mathbf{q}\in \mathbb{R}^6 \) input vector maps directly to the end-effector pose \( \robabx{b}{e}{\mathbf{x}} \), thus:

\[ \robabx{b}{e}{\mathbf{x}} = \left[ \begin{array}{c} x\\ y\\ z\\ \theta k_x\\ \theta k_y\\ \theta k_z \end{array} \right] = \left[ \begin{array}{c} q_1\\ q_2\\ q_3\\ q_4\\ q_5\\ q_6 \end{array} \right] = \mathbf{q} \]

It is easily seen that the jacobian \( {^b_6}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^b\mathbf{x}_6}{\partial \mathbf{q}} \) equals the \( 6\times 6 \) identity matrix \( \mathbf{I}^{6\times 6} \)

The device can be seen as a "perfect" robot, it has no singularities anywhere in the task space, no kinematic or dynamic limits (it can instantaneous move anywhere at any time). The device is interesting in simulations where performance and stability of closed-loop control systems (for instance visual-servoing systems) must be evaluated - if a closed-loop control system does not perform well with a "perfect" robot it will probably not perform well with a real robot either.

Constructor & Destructor Documentation

◆ SE3Device()

SE3Device	(	const std::string &	name,
		rw::core::Ptr< rw::kinematics::Frame >	base,
		rw::kinematics::MovableFrame *	mframe
	)

Constructor.

Parameters

name	[in] device name
base	documentation missing !
mframe	documentation missing !

Member Function Documentation

◆ baseJend()

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 \( ^b_e\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \).

Returns: the \( 6*ndof \) jacobian matrix: \( {^b_e}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \)

Where:

\[ {^b_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \mathbf{I}^{6\times 6} = \left[ \begin{array}{cccccc} 1 & 0 & 0 & 0 & 0 & 0\\ 0 & 1 & 0 & 0 & 0 & 0\\ 0 & 0 & 1 & 0 & 0 & 0\\ 0 & 0 & 0 & 1 & 0 & 0\\ 0 & 0 & 0 & 0 & 1 & 0\\ 0 & 0 & 0 & 0 & 0 & 1\\ \end{array} \right] \]

Implements Device.

◆ getAccelerationLimits()

rw::math::Q getAccelerationLimits ( ) const

virtual

get the Joint Acceleration limit

Returns: the Acceleration limit as Q

Implements Device.

◆ getBase() [1/2]

rw::kinematics::Frame* getBase ( )

inlinevirtual

get base of the device

Returns: base Frame

Implements Device.

◆ getBase() [2/2]

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

inlinevirtual

get base of the device

Returns: base Frame

Implements Device.

◆ getBounds()

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 \( (\mathbf{q}_{min}, \mathbf{q}_{max}) \)

Since the SE3Device robot is unconstrained and can move anywhere whithin the taskspace each of the 6 input's are unbounded ( \( [-\inf, \inf] \)) in practice the inputs are limited to the numerical limits of the real datatype, thus this method returns the range ([DBL_MIN, DBL_MAX]) for each of the 6 inputs

Implements Device.

◆ getDOF()

size_t getDOF ( ) const

inlinevirtual

Returns number of active joints.

Returns: number of active joints \( n \)

This method always returns the value 6

Implements Device.

◆ getEnd() [1/2]

rw::kinematics::Frame* getEnd ( )

inlinevirtual

get end of the device

Returns: end Frame

Implements Device.

◆ getEnd() [2/2]

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

inlinevirtual

get end of the device

Returns: end Frame

Implements Device.

◆ getQ()

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

get the Joint velocity limit

Returns: the velocity limit as Q

Implements Device.

◆ setAccelerationLimits()

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

virtual

set the Joint Acceleration limit

Parameters

acclimits [in] the acceleration limit as Q

Implements Device.

◆ setBounds()

virtual void setBounds ( const QBox & bounds )

virtual

set outer bound of the device

Parameters

bounds [in] the minimum Q and the maximum Q

Implements Device.

◆ setQ()

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(); q.size() == 6

Implements Device.

◆ setVelocityLimits()

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

virtual

set the Joint velocity limit

Parameters

vellimits [in] the velocity limit as Q

Implements Device.

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

SE3Device.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SE3Device()

Member Function Documentation

◆ baseJend()

◆ getAccelerationLimits()

◆ getBase() [1/2]

◆ getBase() [2/2]

◆ getBounds()

◆ getDOF()

◆ getEnd() [1/2]

◆ getEnd() [2/2]

◆ getQ()

◆ getVelocityLimits()

◆ setAccelerationLimits()

◆ setBounds()

◆ setQ()

◆ setVelocityLimits()