Provides a differential controlled mobile device. More...

#include <MobileDevice.hpp>

Inherits Device.

Public Member Functions
	MobileDevice (rw::kinematics::MovableFrame base, RevoluteJoint wheel1, RevoluteJoint *wheel2, rw::kinematics::State &state, const std::string &name)
	Constructs a mobile device. More...

virtual	~MobileDevice ()
	Destructor.

void	setDevicePose (const rw::math::Transform3D<> &transform, rw::kinematics::State &state)
	Sets the position and orientation of the base. More...

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

virtual rw::math::Q	getQ (const rw::kinematics::State &state) const
	Gets configuration vector \( \mathbf{q}\in \mathbb{R}^n \). More...

virtual 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...

virtual 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...

virtual rw::math::Q	getVelocityLimits () const
	Returns the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...

virtual void	setVelocityLimits (const rw::math::Q &vellimits)
	Sets the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\). More...

virtual rw::math::Q	getAccelerationLimits () const
	Returns the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). More...

virtual void	setAccelerationLimits (const rw::math::Q &acclimits)
	Sets the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\). More...

virtual size_t	getDOF () const
	Returns number of active joints. More...

virtual rw::kinematics::Frame *	getBase ()
	a method to return the frame of the base of the device. More...

virtual 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...

virtual 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...

virtual rw::math::Jacobian	baseJframe (const rw::core::Ptr< 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 >	baseJCframes (const std::vector< rw::kinematics::Frame * > &frames, const rw::kinematics::State &state) const
	DeviceJacobian for a sequence of frames. 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::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 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

Provides a differential controlled mobile device.

The MobileDevice class provides a differential controlled mobile device with non-holonomic constraints. The \( x\) direction is defined as straight forward and \( z\) vertically up. The wheels are assumed to be positioned summetrically around the base and have \( 0\) \( x\) component.

When using setQ it takes 2 parameters, which corresponds to the distances travelled by the wheels. Based on this input and the current pose of the device it calcualtes a new pose as.

Constructor & Destructor Documentation

◆ MobileDevice()

MobileDevice	(	rw::kinematics::MovableFrame *	base,
		RevoluteJoint *	wheel1,
		RevoluteJoint *	wheel2,
		rw::kinematics::State &	state,
		const std::string &	name
	)

Constructs a mobile device.

Parameters

base	[in] the base of the device
wheel1	[in] the left wheel
wheel2	[in] the right wheel
state	[in] the state of the device
name	[in] name of device

Member Function Documentation

◆ baseJCframes()

virtual rw::core::Ptr<rw::models::JacobianCalculator> baseJCframes	(	const std::vector< rw::kinematics::Frame * > &	frames,
		const rw::kinematics::State &	state
	)		const

virtual

DeviceJacobian for a sequence of frames.

Not implemented.

Implements Device.

◆ baseJend()

virtual rw::math::Jacobian baseJend ( const rw::kinematics::State & state ) const

virtual

Calculates the jacobian matrix of the end-effector described in the robot base frame \( ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \).

Parameters

state [in] State for which to calculate the Jacobian

Returns: the \( 6*ndof \) jacobian matrix: \( {^{base}_{end}}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \)

This method calculates the jacobian relating joint velocities ( \( \mathbf{\dot{q}} \)) to the end-effector velocity seen from base-frame ( \( \nu^{ase}_{end} \))

\[ \nu^{base}_{end} = {^{base}_{end}}\mathbf{J}_\mathbf{q}(\mathbf{q})\mathbf{\dot{q}} \]

The jacobian matrix

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \]

is defined as:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^{base}\mathbf{x}_n}{\partial \mathbf{q}} \]

Where:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \left[ \begin{array}{cccc} {^{base}_1}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) & {^{base}_2}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) & \cdots & {^b_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \\ \end{array} \right] \]

where \( {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \) is defined by

\[ {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \times {^{i}\mathbf{p}_n} \\ {^{base}}\mathbf{z}_i \\ \end{array} \right] & \textrm{revolute joint} \end{array} \]

\[ {^{base}_i}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \begin{array}{cc} \left[ \begin{array}{c} {^{base}}\mathbf{z}_i \\ \mathbf{0} \\ \end{array} \right] & \textrm{prismatic joint} \\ \end{array} \]

By default the method forwards to baseJframe().

Implements Device.

◆ baseJframe()

virtual rw::math::Jacobian baseJframe	(	const rw::core::Ptr< rw::kinematics::Frame >	frame,
		const rw::kinematics::State &	state
	)		const

virtual

Calculates the jacobian matrix of a frame f described in the robot base frame \( ^{base}_{frame}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \).

Parameters

frame	[in] Frame for which to calculate the Jacobian
state	[in] State for which to calculate the Jacobian

Returns: the \( 6*ndof \) jacobian matrix: \( {^{base}_{frame}}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \)

This method calculates the jacobian relating joint velocities ( \( \mathbf{\dot{q}} \)) to the frame f velocity seen from base-frame ( \( \nu^{base}_{frame} \))

\[ \nu^{base}_{frame} = {^{base}_{frame}}\mathbf{J}_\mathbf{q}(\mathbf{q})\mathbf{\dot{q}} \]

The jacobian matrix

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) \]

is defined as:

\[ {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^{base}\mathbf{x}_n}{\partial \mathbf{q}} \]

By default the method forwards to baseJframes(). Not implemented.

Reimplemented from Device.

◆ baseJframes()

virtual rw::math::Jacobian baseJframes	(	const std::vector< rw::kinematics::Frame * > &	frames,
		const rw::kinematics::State &	state
	)		const

virtual

The Jacobian for a sequence of frames.

A Jacobian is computed for each of the frames and the Jacobians are stacked on top of eachother.

Parameters

frames	[in] the frames to calculate the frames from
state	[in] the state to calculate in

Returns: the jacobian Not implemented.

Reimplemented from Device.

◆ getAccelerationLimits()

virtual rw::math::Q getAccelerationLimits ( ) const

virtual

Returns the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}\)

Returns: the maximal acceleration

Implements Device.

◆ getBase() [1/2]

virtual rw::kinematics::Frame* getBase ( )

virtual

a method to return the frame of the base of the device.

Returns: the base frame

Implements Device.

◆ getBase() [2/2]

virtual const rw::kinematics::Frame* getBase ( ) const

virtual

a method to return the frame of the base of the device.

Returns: the base frame

Implements Device.

◆ getBounds()

virtual std::pair<rw::math::Q, rw::math::Q> getBounds ( ) const

virtual

Returns the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space.

Returns: std::pair containing \( (\mathbf{q}_{min}, \mathbf{q}_{max}) \)

Implements Device.

◆ getDOF()

virtual size_t getDOF ( ) const

virtual

Returns number of active joints.

Returns: number of active joints \( n \)

Implements Device.

◆ getEnd() [1/2]

virtual rw::kinematics::Frame* getEnd ( )

virtual

a method to return the frame of the end of the device

Returns: the end frame

Implements Device.

◆ getEnd() [2/2]

virtual const rw::kinematics::Frame* getEnd ( ) const

virtual

a method to return the frame of the end of the device

Returns: the end frame

Implements Device.

◆ getQ()

virtual rw::math::Q getQ ( const rw::kinematics::State & state ) const

virtual

Gets configuration vector \( \mathbf{q}\in \mathbb{R}^n \).

Parameters

state [in] state from which which to get \( \mathbf{q} \)

Returns: configuration vector \( \mathbf{q} \)

Implements Device.

◆ getVelocityLimits()

virtual rw::math::Q getVelocityLimits ( ) const

virtual

Returns the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}\)

Returns: the maximal velocity

Implements Device.

◆ setAccelerationLimits()

virtual void setAccelerationLimits ( const rw::math::Q & acclimits )

virtual

Sets the maximal acceleration of the joints \(\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}\)

Parameters

acclimits [in] the maximal acceleration

Implements Device.

◆ setBounds()

virtual void setBounds ( const std::pair< rw::math::Q, rw::math::Q > & bounds )

virtual

Sets the upper \( \mathbf{q}_{min} \in \mathbb{R}^n \) and lower \( \mathbf{q}_{max} \in \mathbb{R}^n \) bounds of the joint space.

Parameters

bounds [in] std::pair containing \( (\mathbf{q}_{min}, \mathbf{q}_{max}) \)

◆ setDevicePose()

void setDevicePose	(	const rw::math::Transform3D<> &	transform,
		rw::kinematics::State &	state
	)

Sets the position and orientation of the base.

This operation moves the base of the robot, without considering the non-holonomic constraints of the device

Parameters

transform	[in] new base transform
state	[in] state to write change to

◆ setQ()

virtual 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()

Implements Device.

◆ setVelocityLimits()

virtual void setVelocityLimits ( const rw::math::Q & vellimits )

virtual

Sets the maximal velocity of the joints \(\mathbf{\dot{q}}_{max}\in \mathbb{R}^n\).

It is assumed that \( \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}\)

Parameters

vellimits [in] Q with the maximal velocity

Implements Device.

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

MobileDevice.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MobileDevice()

Member Function Documentation

◆ baseJCframes()

◆ baseJend()

◆ baseJframe()

◆ baseJframes()

◆ getAccelerationLimits()

◆ getBase() [1/2]

◆ getBase() [2/2]

◆ getBounds()

◆ getDOF()

◆ getEnd() [1/2]

◆ getEnd() [2/2]

◆ getQ()

◆ getVelocityLimits()

◆ setAccelerationLimits()

◆ setBounds()

◆ setDevicePose()

◆ setQ()

◆ setVelocityLimits()