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RobWorkProject
24.12.4-
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RobWorkProject
24.12.4-
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the Rigid device is composed of a set of links where one or multiple constraints (joints) connect the links. The RigidDevice has motors on all active joints. These motors can be operated in either velocity control mode or force control mode. More...
#include <RigidDevice.hpp>
Inherits DynamicDevice.
Public Types | |
| enum | MotorControlMode { Force , Velocity } |
| Possible control modes for the motors in each joint. More... | |
| typedef rw::core::Ptr< RigidDevice > | Ptr |
| Smart pointer type for a dynamic device. | |
 Public Types inherited from DynamicDevice | |
| typedef rw::core::Ptr< DynamicDevice > | Ptr |
| Smart pointer type for a DynamicDevice. | |
| Public Types inherited from Stateless | |
| typedef rw::core::Ptr< Stateless > | Ptr |
| Smart pointer type for Stateless. | |
Public Member Functions | |
| RigidDevice (dynamics::Body::Ptr base, const std::vector< std::pair< BodyInfo, rw::models::Object::Ptr >> &objects, rw::models::JointDevice::Ptr dev) | |
| Construct new kinematic device. More... | |
| virtual | ~RigidDevice () |
| Destructor. | |
| void | setMotorForceLimits (const rw::math::Q &force) |
| set the force limits of all motors of this device More... | |
| rw::math::Q | getMotorForceLimits () |
| get the force limits of all motors of this device | |
| rw::math::Q | getJointVelocities (const rw::kinematics::State &state) |
| get velocities of all motorized joints More... | |
| double | getJointVelocity (int i, const rw::kinematics::State &state) |
| Get the velocity of a motorized joint. More... | |
| void | setJointVelocities (const rw::math::Q &q, rw::kinematics::State &state) |
| set the joint velocities More... | |
| void | setJointVelocity (double vel, int i, rw::kinematics::State &state) |
| Set the velocity of a motorized joint. More... | |
| std::vector< MotorControlMode > | getMotorModes (const rw::kinematics::State &state) |
| get the modes of all motors | |
| MotorControlMode | getMotorMode (int i, const rw::kinematics::State &state) |
| Get the control mode for a single motor. More... | |
| rw::math::Q | getMotorTargets (const rw::kinematics::State &state) |
| get the target off all motors More... | |
| double | getMotorTarget (int i, const rw::kinematics::State &state) |
| Get the target for a single motor. More... | |
| void | setMotorTargets (const rw::math::Q &q, rw::kinematics::State &state) |
| set target of all motors More... | |
| void | setMotorForceTargets (const rw::math::Q &force, rw::kinematics::State &state) |
| Set force targets for all motors. More... | |
| void | setMotorVelocityTargets (const rw::math::Q &vel, rw::kinematics::State &state) |
| Set velocity targets for all motors. More... | |
| void | setMotorTarget (double q, int i, rw::kinematics::State &state) |
| set the target of motor i. the target may be a desired force or a desired velocity depending on the current mode of the motor. More... | |
| void | setMotorForceTarget (double force, int i, rw::kinematics::State &state) |
| Set force target for a single motor. More... | |
| void | setMotorVelocityTarget (double vel, int i, rw::kinematics::State &state) |
| Set velocity target for a single motor. More... | |
| rw::models::JointDevice::Ptr | getJointDevice () |
| Get the kinematic model of the device. More... | |
| const std::vector< Body::Ptr > & | getLinks () |
| Get the links of the device. More... | |
| Public Member Functions inherited from DynamicDevice | |
| virtual | ~DynamicDevice () |
| Destructor. | |
| virtual rw::math::Q | getQ (const rw::kinematics::State &state) |
| gets the position | |
| virtual void | setQ (const rw::math::Q &q, rw::kinematics::State &state) |
| Set the position of the joints. More... | |
| rw::models::Device & | getModel () |
| gets the kinematic model of the DynamicDevice. | |
| rw::models::Device::Ptr | getKinematicModel () |
| Get the kinematic model of the device. More... | |
| dynamics::Body::Ptr | getBase () |
| Get the base of the device. More... | |
| virtual rw::math::Q | getVelocity (const rw::kinematics::State &state) |
| deprecated More... | |
| virtual void | setVelocity (const rw::math::Q &vel, rw::kinematics::State &state) |
| Set the velocities of the joints. More... | |
| const std::string & | getName () const |
| Get the name of the dynamic 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 DynamicDevice | |
| DynamicDevice (dynamics::Body::Ptr base, rw::models::Device::Ptr dev) | |
| Construct new dynamic device. More... | |
| 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 DynamicDevice | |
| rw::models::Device::Ptr | _dev |
| The kinematic model. | |
| dynamics::Body::Ptr | _base |
| The base of the device. | |
| 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. | |
the Rigid device is composed of a set of links where one or multiple constraints (joints) connect the links. The RigidDevice has motors on all active joints. These motors can be operated in either velocity control mode or force control mode.
To extend this to other types of control please use a JointController from rwsim::control
The Rigid device is created as a wrapper on top of a kinematic device from RobWork. This makes all constraints hard and only constraints (that is joints) that robwork supports in its device class is supported here.
1.9.1