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

A tree structured device. More...

#include <TreeDevice.hpp>

Inherits JointDevice.

Public Types

typedef rw::core::Ptr< TreeDevicePtr
 smart pointer type to this class
 
- Public Types inherited from JointDevice
typedef rw::core::Ptr< JointDevicePtr
 smart pointer type to this class
 
typedef rw::core::Ptr< const JointDeviceCPtr
 smart pointer type to this class
 
- 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.
 

Public Member Functions

 TreeDevice (rw::core::Ptr< rw::kinematics::Frame > base, const std::vector< rw::kinematics::Frame * > &ends, const std::string &name, const rw::kinematics::State &state)
 Constructor. More...
 
virtual ~TreeDevice ()
 destructor
 
rw::math::Jacobian baseJends (const rw::kinematics::State &state) const
 like Device::baseJend() but with a Jacobian calculated for all end effectors.
 
const std::vector< rw::kinematics::Frame * > & getEnds () const
 The end-effectors of the tree device.
 
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...
 
const std::vector< rw::kinematics::Frame * > & frames () const
 Frames of the device. More...
 
- Public Member Functions inherited from JointDevice
 JointDevice (const std::string &name, rw::core::Ptr< rw::kinematics::Frame > base, rw::core::Ptr< rw::kinematics::Frame > end, const std::vector< rw::models::Joint * > &joints, const rw::kinematics::State &state)
 Construct the device for a sequence of joints. More...
 
virtual ~JointDevice ()
 destructor
 
const std::vector< rw::models::Joint * > & getJoints () const
 Get all joints of this device. 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...
 
size_t getDOF () const
 Returns number of active joints. More...
 
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...
 
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...
 
rw::math::Q getVelocityLimits () const
 Returns the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...
 
void setVelocityLimits (const rw::math::Q &vellimits)
 Sets the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...
 
rw::math::Q getAccelerationLimits () const
 Returns the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). More...
 
void setAccelerationLimits (const rw::math::Q &acclimits)
 Sets the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). 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 \( ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \). More...
 
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...
 
rw::kinematics::FramegetBase ()
 a method to return the frame of the base of the device. More...
 
const rw::kinematics::FramegetBase () const
 a method to return the frame of the base of the device. 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::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::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

- 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 tree structured device.

This device type defines devices that are tree-structured, with multiple end effectors. Typical for dexterous hands, and multi-armed robots.

dot_inline_dotgraph_1.png

Constructor & Destructor Documentation

◆ TreeDevice()

TreeDevice ( rw::core::Ptr< rw::kinematics::Frame base,
const std::vector< rw::kinematics::Frame * > &  ends,
const std::string &  name,
const rw::kinematics::State state 
)

Constructor.

Parameters
base[in] the base frame of the robot
ends[in] the set of end-effectors of the robot
name[in] name of device
state[in] the initial state of everything

Member Function Documentation

◆ frames()

const std::vector<rw::kinematics::Frame*>& frames ( ) const
inline

Frames of the device.

This method is being used when displaying the kinematic structure of devices in RobWorkStudio. The method really isn't of much use for everyday programming.

◆ getEnd() [1/2]

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

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

Returns
the end frame

Reimplemented from JointDevice.

◆ getEnd() [2/2]

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

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

Returns
the end frame

Reimplemented from JointDevice.


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