a kinematic device is able to influence the simulated environment but the device is not influenced by any external force as is the RigidDevice. More...

#include <KinematicDevice.hpp>

Inherits DynamicDevice.

Public Types
typedef rw::core::Ptr< KinematicDevice >	Ptr
	Smart pointer type for a KinematicDevice.

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

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

Public Member Functions
	KinematicDevice (dynamics::Body::Ptr base, const std::vector< std::pair< BodyInfo, rw::core::Ptr< rw::models::Object >>> &objects, rw::models::JointDevice::Ptr dev)
	Construct new kinematic device. More...

virtual	~KinematicDevice ()
	destructor

rw::math::Q	getJointVelocities (const rw::kinematics::State &state)
	get the current velocities of all joints More...

void	setJointVelocities (const rw::math::Q &vel, rw::kinematics::State &state)
	Set the velocities of the joints. More...

const std::vector< Body::Ptr > &	getLinks ()
	get the kinematic bodies that this KinematicDevice controls. The bodies are ordered such that device joint i maps to kinematic body i More...

void	setMaxAcc (const rw::math::Q &acc)
	Set maximum acceleration for the joints. More...

rw::math::Q	getMaxAcc ()
	Get the maximum joint accelerations. More...

void	setMaxVel (const rw::math::Q &vel)
	Set the maximum joint velocities. More...

rw::math::Q	getMaxVel ()
	Get the maximum joint velocities. More...

rw::models::JointDevice::Ptr	getJointDevice ()
	Get the kinematic model. More...

Public Member Functions inherited from DynamicDevice
virtual	~DynamicDevice ()
	Destructor.

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

virtual void	setQ (const rw::math::Q &q, rw::kinematics::State &state)
	Set the position of the joints. More...

rw::models::Device &	getModel ()
	gets the kinematic model of the DynamicDevice.

rw::models::Device::Ptr	getKinematicModel ()
	Get the kinematic model of the device. More...

dynamics::Body::Ptr	getBase ()
	Get the base of the device. More...

virtual rw::math::Q	getVelocity (const rw::kinematics::State &state)
	deprecated More...

virtual void	setVelocity (const rw::math::Q &vel, rw::kinematics::State &state)
	Set the velocities of the joints. More...

virtual void	setMotorVelocityTargets (const rw::math::Q &vel, rw::kinematics::State &state)
	Set motor targets for the joints. More...

const std::string &	getName () const
	Get the name of the dynamic 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 DynamicDevice
	DynamicDevice (dynamics::Body::Ptr base, rw::models::Device::Ptr dev)
	Construct new dynamic device. More...

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 DynamicDevice
rw::models::Device::Ptr	_dev
	The kinematic model.

dynamics::Body::Ptr	_base
	The base of the device.

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 kinematic device is able to influence the simulated environment but the device is not influenced by any external force as is the RigidDevice.

The kinematic device is velocity controlled and if the acceleration limits permit then the velocity of the kinematic device will be equal to the target velocity in the next step of the simulator.

This class is especially usefull for animating robot devices in a simulated environment.

Constructor & Destructor Documentation

◆ KinematicDevice()

KinematicDevice	(	dynamics::Body::Ptr	base,
		const std::vector< std::pair< BodyInfo, rw::core::Ptr< rw::models::Object >>> &	objects,
		rw::models::JointDevice::Ptr	dev
	)

Construct new kinematic device.

Parameters

base	[in] base of the device.
objects	[in] vector of links. Each linksis given as the dynamic body parameters and the object geometry.
dev	[in] the kinematic model.

Member Function Documentation

◆ getJointDevice()

rw::models::JointDevice::Ptr getJointDevice ( )

inline

Get the kinematic model.

Returns: the kinematic model of the device.

◆ getJointVelocities()

rw::math::Q getJointVelocities ( const rw::kinematics::State & state )

inlinevirtual

get the current velocities of all joints

Parameters

state [in] the state

Returns: velocites of all joints

Implements DynamicDevice.

◆ getLinks()

const std::vector<Body::Ptr>& getLinks ( )

inlinevirtual

get the kinematic bodies that this KinematicDevice controls. The bodies are ordered such that device joint i maps to kinematic body i

Returns: all bodies that the device controls.

Implements DynamicDevice.

◆ getMaxAcc()

rw::math::Q getMaxAcc ( )

Get the maximum joint accelerations.

Returns: the maximum accelerations.

◆ getMaxVel()

rw::math::Q getMaxVel ( )

Get the maximum joint velocities.

Returns: the maximum velocities.

◆ setJointVelocities()

void setJointVelocities	(	const rw::math::Q &	vel,
		rw::kinematics::State &	state
	)

inlinevirtual

Set the velocities of the joints.

Parameters

vel	[in] the joint velocities.
state	[out] the state with updated velocities.

Implements DynamicDevice.

◆ setMaxAcc()

void setMaxAcc ( const rw::math::Q & acc )

Set maximum acceleration for the joints.

Parameters

acc	[in] the maximum accelerations.

◆ setMaxVel()

void setMaxVel ( const rw::math::Q & vel )

Set the maximum joint velocities.

Parameters

vel	[in] the maximum velocities.

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

KinematicDevice.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ KinematicDevice()

Member Function Documentation

◆ getJointDevice()

◆ getJointVelocities()

◆ getLinks()

◆ getMaxAcc()

◆ getMaxVel()

◆ setJointVelocities()

◆ setMaxAcc()

◆ setMaxVel()