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

Virtuals joints. More...

#include <VirtualJoint.hpp>

Inherits Joint.

Public Types

typedef rw::core::Ptr< VirtualJointPtr
 smart pointer type to this class
 
- Public Types inherited from Joint
typedef rw::core::Ptr< JointPtr
 smart pointer type to this class
 
- Public Types inherited from Frame
typedef rw::core::Ptr< FramePtr
 Smart pointer type for a Frame object.
 
typedef rw::core::Ptr< const FrameCPtr
 Smart pointer type for a constant Frame object.
 
typedef rw::common::ConcatVectorIterator< Frameiterator
 Forward iterator for frames.
 
typedef rw::common::ConstConcatVectorIterator< Frameconst_iterator
 Forward iterator for const frames.
 
typedef rw::core::iter_pair< iteratoriterator_pair
 Pair of iterators.
 
typedef rw::core::iter_pair< const_iteratorconst_iterator_pair
 Pair of const iterators.
 

Public Member Functions

 VirtualJoint (const std::string &name, const rw::math::Transform3D<> &transform, size_t dof)
 A virtual joint with a displacement transform of transform. More...
 
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
 Finds the Jacobian of the joints and adds it in jacobian. More...
 
rw::math::Transform3D getFixedTransform () const
 get the fixed transform from parent to this joint More...
 
void setFixedTransform (const rw::math::Transform3D<> &t3d)
 get the fixed transform from parent to this joint More...
 
rw::math::Transform3D getJointTransform (const rw::kinematics::State &state) const
 get the isolated joint transformation which is purely dependent on q. More...
 
virtual void setJointMapping (rw::math::Function1Diff<>::Ptr function)
 set the function to be used in transforming from the state q to the actual q needed. More...
 
virtual void removeJointMapping ()
 removes mapping of joint values More...
 
- Public Member Functions inherited from Joint
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::QgetMaxVelocity () const
 Gets max velocity of joint. More...
 
void setMaxAcceleration (const rw::math::Q &maxAcceleration)
 Sets max acceleration of joint. More...
 
const rw::math::QgetMaxAcceleration () const
 Gets max acceleration of joint. 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...
 
- 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::PropertyMapgetPropertyMap () const
 Miscellaneous properties of the frame. More...
 
rw::core::PropertyMapgetPropertyMap ()
 Miscellaneous properties of the frame. More...
 
int getDOF () const
 The number of degrees of freedom (dof) of the frame. More...
 
const rw::kinematics::FramegetParent () const
 The parent of the frame or NULL if the frame is a DAF.
 
rw::kinematics::FramegetParent ()
 The parent of the frame or NULL if the frame is a DAF.
 
rw::kinematics::FramegetParent (const rw::kinematics::State &state)
 Returns the parent of the frame. More...
 
const rw::kinematics::FramegetParent (const rw::kinematics::State &state) const
 Returns the parent of the frame. More...
 
const rw::kinematics::FramegetDafParent (const rw::kinematics::State &state) const
 The dynamically attached parent or NULL if the frame is not a DAF.
 
rw::kinematics::FramegetDafParent (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::PtrgetChildrenList (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::StateCachegetCache (const rw::kinematics::State &state) const
 Get the cache. More...
 
rw::core::Ptr< rw::kinematics::StateCachegetCache (rw::kinematics::State &state)
 Get the cache. . More...
 
rw::core::Ptr< rw::kinematics::StateCachegetDefaultCache ()
 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::StateStructuregetStateStructure ()
 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

rw::math::Transform3D doGetTransform (const rw::kinematics::State &state) const
 
void doMultiplyTransform (const rw::math::Transform3D<> &parent, const rw::kinematics::State &state, rw::math::Transform3D<> &result) const
 Subclass implementation of the getTransform() method.
 
- Protected Member Functions inherited from Joint
 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...
 

Detailed Description

Virtuals joints.

VirtualJoint is a joint with a role similar to a rw::kinematics::FixedFrame with an optional number of dof allocated in the state.

Virtual joints are useful when you want a store joint values of e.g. a number of passive joints.

Constructor & Destructor Documentation

◆ VirtualJoint()

VirtualJoint ( const std::string &  name,
const rw::math::Transform3D<> &  transform,
size_t  dof 
)

A virtual joint with a displacement transform of transform.

Parameters
name[in] The name of the frame.
transform[in] The displacement transform of the joint.
dof[in] Number of degrees of freedom of the joint

Member Function Documentation

◆ doGetTransform()

rw::math::Transform3D doGetTransform ( const rw::kinematics::State state) const
protectedvirtual

brief Subclass implementation of the multiplyTransform() method

Implements Frame.

◆ getFixedTransform()

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

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

Implements Joint.

◆ getJacobian()

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
inlinevirtual

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.

Implements Joint.

◆ getJointTransform()

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

Implements Joint.

◆ removeJointMapping()

virtual void removeJointMapping ( )
inlinevirtual

removes mapping of joint values

Implements Joint.

◆ setFixedTransform()

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

Implements Joint.

◆ setJointMapping()

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

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.

Implements Joint.


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