A device constructed from a sequence of devices. More...

#include <CompositeJointDevice.hpp>

Public Member Functions
	CompositeJointDevice (rw::core::Ptr< rw::kinematics::Frame > base, const std::vector< rw::core::Ptr< rw::models::Device >> &devices, rw::core::Ptr< rw::kinematics::Frame > end, const std::string &name, const rw::kinematics::State &state)
	Constructor. More...

	CompositeJointDevice (rw::core::Ptr< rw::kinematics::Frame > base, const std::vector< rw::core::Ptr< rw::models::Device >> &devices, const std::vector< rw::kinematics::Frame * > &ends, const std::string &name, const rw::kinematics::State &state)
	Constructor. More...

virtual	~CompositeJointDevice ()
	destructor

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

rw::math::Jacobian	baseJends (const rw::kinematics::State &state) const
	like Device::baseJend() but with a Jacobian calculated for all end-effectors (see getEnds()).

const std::vector< rw::kinematics::Frame * > &	getEnds () const
	The end-effectors of the composite 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::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
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.

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 device constructed from a sequence of devices.

The configuration of a composite device is equal to the concatenation of the configurations of the sequence of devices.

The devices that make up the CompositeJointDevice may not share joints, but the implementation does not check if this is actually the case.

A composite device implements its operations of Device by querying each Joint in the straight-forward way of JointDevice. The notable exception is Device::setQ() which is implemented by forwarding the Device::setQ() calls to the sequence of devices. This means that CompositeJointDevice works also for example for devices of type ParallelDevice that have an overwritten implementation of Device::setQ().

The devices from which the composite device is constructed must all be of type JointDevice. An exception is thrown by the constructor if one of the devices is not of this subtype.

The computation of Jacobians of CompositeJointDevice is not correct in general, but is correct only for devices for which the standard technique of JointDevice is correct. We cannot in general in RobWork do any better currently. The implementation does not check if the requirements for the computation of Jacobians are indeed satisfied.

CompositeJointDevice is related to TreeDevice in the sense that CompositeJointDevice has also multiple end-effectors (one end-effector for each device). CompositeJointDevice differs from TreeDevice by not requiring that the child-to-parent paths of the end-effectors connect to a common base.

Constructor & Destructor Documentation

◆ CompositeJointDevice() [1/2]

CompositeJointDevice	(	rw::core::Ptr< rw::kinematics::Frame >	base,
		const std::vector< rw::core::Ptr< rw::models::Device >> &	devices,
		rw::core::Ptr< rw::kinematics::Frame >	end,
		const std::string &	name,
		const rw::kinematics::State &	state
	)

Constructor.

Parameters

base	[in] the base of the device
devices	[in] the sequence of subdevices
end	[in] the end (or tool) of the device
name	[in] the name of the device
state	[in] the kinematic structure assumed for Jacobian computations

◆ CompositeJointDevice() [2/2]

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

Constructor.

Parameters

base	[in] the base of the device
devices	[in] the sequence of subdevices
ends	[in] the end frames (or tools) of the device
name	[in] the name of the device
state	[in] the kinematic structure assumed for Jacobian computations

Member Function Documentation

◆ getEnds()

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

inline

The end-effectors of the composite device.

The end-effectors of the composite device are the end-effectors of the devices from which the composite device was constructed.

This sequence of end-effectors may or may not include the default end-effector returned by getEnd().

◆ 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()

The method is implemented via forwarding to the Device::setQ() methods of the subdevices.

Implements Device.

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

CompositeJointDevice.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CompositeJointDevice() [1/2]

◆ CompositeJointDevice() [2/2]

Member Function Documentation

◆ getEnds()

◆ setQ()