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RobWorkProject
23.9.11-
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RobWorkProject
23.9.11-
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The device for a serial chain. More...
#include <SerialDevice.hpp>
Inherits JointDevice.
Public Types | |
| typedef rw::core::Ptr< SerialDevice > | Ptr |
| smart pointer type to this class | |
| typedef rw::core::Ptr< const SerialDevice > | CPtr |
| smart pointer type to this const class | |
 Public Types inherited from JointDevice | |
| typedef rw::core::Ptr< JointDevice > | Ptr |
| smart pointer type to this class | |
| typedef rw::core::Ptr< const JointDevice > | CPtr |
| smart pointer type to this class | |
| 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. | |
Public Member Functions | |
| SerialDevice (rw::core::Ptr< rw::kinematics::Frame > first, rw::core::Ptr< rw::kinematics::Frame > last, const std::string &name, const rw::kinematics::State &state) | |
| Constructor. More... | |
| virtual | ~SerialDevice () |
| destructor | |
| const std::vector< rw::kinematics::Frame * > & | frames () const |
| Frames of the device. More... | |
| SerialDevice (const std::vector< rw::kinematics::Frame * > &serialChain, const std::string &name, const rw::kinematics::State &state) | |
| Creates object. 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::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... | |
| 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::JacobianCalculator > | baseJCframes (const std::vector< rw::kinematics::Frame * > &frames, const rw::kinematics::State &state) const |
| DeviceJacobian for a sequence of frames. More... | |
| rw::kinematics::Frame * | getBase () |
| a method to return the frame of the base of the device. More... | |
| const rw::kinematics::Frame * | getBase () const |
| a method to return the frame of the base of the device. More... | |
| virtual rw::kinematics::Frame * | getEnd () |
| a method to return the frame of the end of the device More... | |
| virtual const rw::kinematics::Frame * | getEnd () const |
| a method to return the frame of the end 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 (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 | |
| 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. | |
The device for a serial chain.
SerialChain is like JointDevice except that SerialChain has the additional guarantee that the joints lie on a single parent to child path of the kinematic tree.
| SerialDevice | ( | rw::core::Ptr< rw::kinematics::Frame > | first, |
| rw::core::Ptr< rw::kinematics::Frame > | last, | ||
| const std::string & | name, | ||
| const rw::kinematics::State & | state | ||
| ) |
Constructor.
| first | [in] the base frame of the robot |
| last | [in] the end-effector of the robot |
| name | [in] name of device |
| state | [in] the connectedness of the frames |
| SerialDevice | ( | const std::vector< rw::kinematics::Frame * > & | serialChain, |
| const std::string & | name, | ||
| const rw::kinematics::State & | state | ||
| ) |
Creates object.
| serialChain | [in] a vector of connected frames. The first frame in serialChain is the base of the device and the last frame of serialChain is the end of the device. The joints of the device are the active joints of serialChain. |
| name | [in] name of device |
| state | [in] the initial state of everything |
| const std::vector<rw::kinematics::Frame*>& frames | ( | ) | const |
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.
1.9.1