RobWorkProject  21.8.23-
Public Types | Public Member Functions | List of all members
SuctionCup Class Reference

a suction cup with circular end effector. More...

#include <SuctionCup.hpp>

Inherits DynamicDevice.

Public Types

typedef rw::core::Ptr< SuctionCupPtr
 smart pointer type of SuctionCup
 
- Public Types inherited from DynamicDevice
typedef rw::core::Ptr< DynamicDevicePtr
 Smart pointer type for a DynamicDevice.
 
- Public Types inherited from Stateless
typedef rw::core::Ptr< StatelessPtr
 Smart pointer type for Stateless.
 

Public Member Functions

 SuctionCup (const std::string &name, rwsim::dynamics::Body::Ptr base, rwsim::dynamics::RigidBody::Ptr end, const rw::math::Transform3D<> &bTb2, double radi, double height, rw::math::Q springConstant1, rw::math::Q springConstant2)
 
rwsim::dynamics::Body::Ptr getBaseBody ()
 
rwsim::dynamics::Body::Ptr getEndBody ()
 
void addToWorkCell (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)
 
double getRadius ()
 
double getHeight ()
 
rw::math::Q getSpringParamsOpen ()
 
rw::math::Q getSpringParamsClosed ()
 
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...
 
void addForceTorque (const rw::math::Q &forceTorque, rw::kinematics::State &state)
 
rw::math::Transform3D getOffset ()
 
const std::vector< rwsim::dynamics::Body::Ptr > & getLinks ()
 Get all links in the dynamic device. More...
 
bool isClosed (const rw::kinematics::State &state)
 
void setClosed (bool closed, rw::kinematics::State &state)
 
rwsim::dynamics::Body::Ptr getContactBody (const rw::kinematics::State &state)
 
void setContactBody (rwsim::dynamics::Body::Ptr b, rw::kinematics::State &state)
 
double getPressure (const rw::kinematics::State &state)
 
void setPressure (double pressure, rw::kinematics::State &state)
 
- 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::DevicegetModel ()
 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 suction cup with circular end effector.

This is a complex device. That use a CompositeBody to model a semi-elastic geometry which is a composite of several rigid parts. It use a sensor for detecting contacting state with surface of another body and a controller for controlling the forces acting due to the suction.

Member Function Documentation

◆ 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< rwsim::dynamics::Body::Ptr >& getLinks ( )
inlinevirtual

Get all links in the dynamic device.

Returns
a vector with the links.

Implements DynamicDevice.

◆ 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.


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