Class TreeDevice


  • public class TreeDevice
    extends JointDevice
    A tree structured device

    This device type defines devices that are tree-structured, with multiple end effectors.
    Typical for dexterous hands, and multi-armed robots.

    • Constructor Detail

      • TreeDevice

        public TreeDevice​(long cPtr,
                          boolean cMemoryOwn)
      • TreeDevice

        public TreeDevice​(Frame base,
                          FrameVector ends,
                          java.lang.String name,
                          State state)
        Constructor

        Parameters:
        base - [in] the base frame of the robot
        ends - [in] the set of end-effectors of the robot
        name - [in] name of device
        state - [in] the initial state of everything
    • Method Detail

      • getCPtr

        public static long getCPtr​(TreeDevice obj)
      • baseJends

        public Jacobian baseJends​(State state)
        like Device::baseJend() but with a Jacobian calculated for all
        end effectors.
      • getEnds

        public FrameVector getEnds()
        The end-effectors of the tree device.
      • frames

        public FrameVector frames()
        Frames of the device.

        This method is being used when displaying the kinematic structure of
        devices in RobWorkStudio. The method really isn't of much use for
        everyday programming.