RobWorkProject  23.9.11-
Public Member Functions | Protected Member Functions | List of all members
DependentJoint Class Referenceabstract

Dependent joints are 0-dof joints for which the actual joints transformation depends on one of more other joints. More...

#include <DependentJoint.hpp>

Inherits Joint.

Inherited by DependentPrismaticJoint, and DependentRevoluteJoint.

Public Member Functions

virtual ~DependentJoint ()
 Destructor.
 
virtual bool isControlledBy (const rw::models::Joint *joint) const =0
 Returns true if the DependentJoint is controlled by joint. 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...
 
virtual 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 =0
 Finds the Jacobian of the joints and adds it in jacobian. More...
 
virtual rw::math::Transform3D getFixedTransform () const =0
 get the fixed transform from parent to this joint More...
 
virtual void setFixedTransform (const rw::math::Transform3D<> &t3d)=0
 change the transform from parent to joint base. More...
 
virtual rw::math::Transform3D getJointTransform (const rw::kinematics::State &state) const =0
 get the isolated joint transformation which is purely dependent on q. 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...
 
virtual void setJointMapping (rw::math::Function1Diff<>::Ptr function)=0
 set the function to be used in transforming from the state q to the actual q needed. More...
 
virtual void removeJointMapping ()=0
 removes mapping of joint values
 
- 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

 DependentJoint (const std::string &name)
 Constructs DependentJoint. More...
 
- 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...
 
virtual void doMultiplyTransform (const rw::math::Transform3D<> &parent, const rw::kinematics::State &state, rw::math::Transform3D<> &result) const =0
 Subclass implementation of the getTransform() method.
 
virtual rw::math::Transform3D doGetTransform (const rw::kinematics::State &state) const =0
 

Additional Inherited Members

- 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.
 

Detailed Description

Dependent joints are 0-dof joints for which the actual joints transformation depends on one of more other joints.

DependentJoint is an abstract class from which all dependent joints should inherit.

Constructor & Destructor Documentation

◆ DependentJoint()

DependentJoint ( const std::string &  name)
protected

Constructs DependentJoint.

Parameters
name[in] Name of the joints

Member Function Documentation

◆ isControlledBy()

virtual bool isControlledBy ( const rw::models::Joint joint) const
pure virtual

Returns true if the DependentJoint is controlled by joint.

A DependentJoint may depend on more than one joints.

Parameters
joint[in] Joints to test with
Returns
True if this is controlled by joint

Implemented in DependentRevoluteJoint, and DependentPrismaticJoint.


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