A spherical joint that allows rotations in all directions. More...

#include <SphericalJoint.hpp>

Inherits Joint.

Public Types
typedef rw::core::Ptr< SphericalJoint >	Ptr
	Smart pointer type of SphericalJoint.

Public Types inherited from Joint
typedef rw::core::Ptr< Joint >	Ptr
	smart pointer type to this class

Public Types inherited from Frame
typedef rw::core::Ptr< Frame >	Ptr
	Smart pointer type for a Frame object.

typedef rw::core::Ptr< const Frame >	CPtr
	Smart pointer type for a constant Frame object.

typedef rw::common::ConcatVectorIterator< Frame >	iterator
	Forward iterator for frames.

typedef rw::common::ConstConcatVectorIterator< Frame >	const_iterator
	Forward iterator for const frames.

typedef rw::core::iter_pair< iterator >	iterator_pair
	Pair of iterators.

typedef rw::core::iter_pair< const_iterator >	const_iterator_pair
	Pair of const iterators.

Public Member Functions
	SphericalJoint (const std::string &name, const rw::math::Transform3D<> &transform)
	Construct a spherical joint. More...

virtual	~SphericalJoint ()
	Destructor.

virtual void	doMultiplyTransform (const rw::math::Transform3D<> &parent, const rw::kinematics::State &state, rw::math::Transform3D<> &result) const
	Frame::doMultiplyTransform.

virtual rw::math::Transform3D	doGetTransform (const rw::kinematics::State &state) const
	Frame::doGetTransform.

virtual void	getJacobian (std::size_t row, std::size_t col, const rw::math::Transform3D<> &joint, const rw::math::Transform3D<> &tcp, const rw::kinematics::State &state, rw::math::Jacobian &jacobian) const
	Finds the Jacobian of the joints and adds it in jacobian. More...

virtual rw::math::Transform3D	getFixedTransform () const
	get the fixed transform from parent to this joint More...

virtual void	setFixedTransform (const rw::math::Transform3D<> &t3d)
	change the transform from parent to joint base. More...

virtual rw::math::Transform3D	getJointTransform (const rw::kinematics::State &state) const
	get the isolated joint transformation which is purely dependent on q. More...

virtual void	setJointMapping (rw::math::Function1Diff<>::Ptr function)
	set the function to be used in transforming from the state q to the actual q needed. More...

virtual void	removeJointMapping ()
	removes mapping of joint values 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::Q &	getMaxVelocity () const
	Gets max velocity of joint. More...

void	setMaxAcceleration (const rw::math::Q &maxAcceleration)
	Sets max acceleration of joint. More...

const rw::math::Q &	getMaxAcceleration () 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...

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...

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::PropertyMap &	getPropertyMap () const
	Miscellaneous properties of the frame. More...

rw::core::PropertyMap &	getPropertyMap ()
	Miscellaneous properties of the frame. More...

int	getDOF () const
	The number of degrees of freedom (dof) of the frame. More...

const rw::kinematics::Frame *	getParent () const
	The parent of the frame or NULL if the frame is a DAF.

rw::kinematics::Frame *	getParent ()
	The parent of the frame or NULL if the frame is a DAF.

rw::kinematics::Frame *	getParent (const rw::kinematics::State &state)
	Returns the parent of the frame. More...

const rw::kinematics::Frame *	getParent (const rw::kinematics::State &state) const
	Returns the parent of the frame. More...

const rw::kinematics::Frame *	getDafParent (const rw::kinematics::State &state) const
	The dynamically attached parent or NULL if the frame is not a DAF.

rw::kinematics::Frame *	getDafParent (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::Ptr >	getChildrenList (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::StateCache >	getCache (const rw::kinematics::State &state) const
	Get the cache. More...

rw::core::Ptr< rw::kinematics::StateCache >	getCache (rw::kinematics::State &state)
	Get the cache. . More...

rw::core::Ptr< rw::kinematics::StateCache >	getDefaultCache ()
	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::StateStructure *	getStateStructure ()
	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...

Additional Inherited Members
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...

Detailed Description

A spherical joint that allows rotations in all directions.

Rotation is allowed around the x-, y- and z-axes. The position is fixed.

Constructor & Destructor Documentation

◆ SphericalJoint()

SphericalJoint	(	const std::string &	name,
		const rw::math::Transform3D<> &	transform
	)

Construct a spherical joint.

Parameters

name	[in] name of the joint.
transform	[in] static transform of the joint.

Member Function Documentation

◆ getFixedTransform()

virtual rw::math::Transform3D getFixedTransform ( ) const

virtual

get the fixed transform from parent to this joint

Notice that this does not include the actual rotation of the joint (its state) only its fixed transform.

Returns: fixed part of transform from paretn to joint

Implements Joint.

◆ getJacobian()

virtual void getJacobian	(	std::size_t	row,
		std::size_t	col,
		const rw::math::Transform3D<> &	joint,
		const rw::math::Transform3D<> &	tcp,
		const rw::kinematics::State &	state,
		rw::math::Jacobian &	jacobian
	)		const

virtual

Finds the Jacobian of the joints and adds it in jacobian.

Calculates the Jacobian contribution to the device Jacobian when controlling a frame tcp and given a current joint pose joint.

The values are stored from row row to row+5 and column col to col+(joint.getDOF()-1).

Parameters

row	[in] Row where values should be stored
col	[in] Column where values should be stored
joint	[in] Transform of the joint
tcp	[in] Transformation of the point to control
state
jacobian	[in] Jacobian to which to add the results.

◆ getJointTransform()

virtual rw::math::Transform3D getJointTransform ( const rw::kinematics::State & state ) const

virtual

get the isolated joint transformation which is purely dependent on q.

Parameters

state [in] the state from which to extract q

Returns: the joint transformation

Implements Joint.

◆ removeJointMapping()

virtual void removeJointMapping ( )

virtual

removes mapping of joint values

Implements Joint.

◆ setFixedTransform()

virtual void setFixedTransform ( const rw::math::Transform3D<> & t3d )

virtual

change the transform from parent to joint base.

Parameters

t3d	[in] the new transform.

Implements Joint.

◆ setJointMapping()

virtual void setJointMapping ( rw::math::Function1Diff<>::Ptr function )

virtual

set the function to be used in transforming from the state q to the actual q needed.

This function can be used e.g. by a calibration.

Parameters

function [in] function with first order derivative.

Implements Joint.

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

SphericalJoint.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SphericalJoint()

Member Function Documentation

◆ getFixedTransform()

◆ getJacobian()

◆ getJointTransform()

◆ removeJointMapping()

◆ setFixedTransform()

◆ setJointMapping()