Package org.robwork.sdurw_models

Class DependentPrismaticJoint

java.lang.Object

org.robwork.sdurw_kinematics.StateData

org.robwork.sdurw_kinematics.Frame

org.robwork.sdurw_models.Joint

org.robwork.sdurw_models.DependentJoint

org.robwork.sdurw_models.DependentPrismaticJoint

public class DependentPrismaticJoint
extends DependentJoint

Dependent prismatic joint.

DependentPrismaticJoint implements a prismatic joint for which the displacement
along the z-axis are linearly dependent on another joint

Constructor Summary

Constructors

Constructor	Description
DependentPrismaticJoint(long cPtr, boolean cMemoryOwn)
DependentPrismaticJoint(java.lang.String name, Transform3D transform, Joint owner, double scale, double offset)	A revolute joint with a displacement transform of transform.

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(DependentPrismaticJoint obj)
Transform3D	getFixedTransform()	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.
void	getJacobian(long row, long col, Transform3D joint, Transform3D tcp, State state, Jacobian jacobian)	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).
Transform3D	getJointTransform(State state)	get the isolated joint transformation which is purely dependent on q.
double	getOffset()	get offset of this joint value in relation to controlling joint
Joint	getOwner()	The joint controlling the passive revolute frame.
double	getScale()	The scaling factor for the joint value of the controlling joint.
Transform3D	getTransform(State state)	The parent to frame transform for a revolute joint. The parent to frame transform is T * Tz(q) where: - T is the displacement transform of the joint; - q = q_owner * scale + offset is the joint value of the joint; - Tz(q) is the transform that translates a point an distance q in the direction of the z-axis.
boolean	isControlledBy(Joint joint)	Returns true if the DependentJoint is controlled by joint. A DependentJoint may depend on more than one joints.
void	removeJointMapping()	removes mapping of joint values
void	setFixedTransform(Transform3D t3d)	change the transform from parent to joint base.
void	setJointMapping(SWIGTYPE_p_rw__math__Function1DiffT_double_double_double_t__Ptr function)	set the function to be used in transforming from the state q to the actual q needed. This function can be used e.g.

Methods inherited from class org.robwork.sdurw_models.DependentJoint

getCPtr

Methods inherited from class org.robwork.sdurw_models.Joint

getBounds, getCPtr, getMaxAcceleration, getMaxVelocity, isActive, setActive, setBounds, setBounds, setMaxAcceleration, setMaxVelocity

Methods inherited from class org.robwork.sdurw_kinematics.Frame

attachTo, equals, fTf, getChildren, getChildren, getChildrenList, getCPtr, getDafChildren, getDafParent, getDOF, getParent, getParent, getPropertyMap, isDAF, multiplyTransform, notEqual, toString, wTf

Methods inherited from class org.robwork.sdurw_kinematics.StateData

equals, getCache, getCPtr, getData, getDefaultCache, getID, getName, getStateStructure, hasCache, notEqual, setCache, setData, setData, size

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

DependentPrismaticJoint

public DependentPrismaticJoint(long cPtr,
                               boolean cMemoryOwn)

DependentPrismaticJoint

public DependentPrismaticJoint(java.lang.String name,
                               Transform3D transform,
                               Joint owner,
                               double scale,
                               double offset)

A revolute joint with a displacement transform of transform.

Parameters:

name - [in] The name of the frame.

transform - [in] The displacement transform of the joint.

owner - [in] The joint controlling the dependent joint.

scale - [in] Scaling factor for the controlling joint value.

offset - [in] Offset for the controlling joint value.

Method Detail

getCPtr

public static long getCPtr(DependentPrismaticJoint obj)

delete

public void delete()

Overrides:

delete in class DependentJoint

getTransform

public Transform3D getTransform(State state)

The parent to frame transform for a revolute joint.

The parent to frame transform is T * Tz(q) where:

- T is the displacement transform of the joint;

- q = q_owner * scale + offset is the joint value of the joint;

- Tz(q) is the transform that translates a point an distance q in the
direction of the z-axis.

Overrides:

getTransform in class Frame

Parameters:

state - [in] Joint values for the forward kinematics tree.

Returns:

The transform of the frame relative to its parent.

getOwner

public Joint getOwner()

The joint controlling the passive revolute frame.

getScale

public double getScale()

The scaling factor for the joint value of the controlling joint.

getOffset

public double getOffset()

get offset of this joint value in relation to controlling joint

isControlledBy

public boolean isControlledBy(Joint joint)

Description copied from class: DependentJoint

Returns true if the DependentJoint is controlled by joint.

A DependentJoint may depend on more than one joints.

Overrides:

isControlledBy in class DependentJoint

Parameters:

joint - [in] Joints to test with

Returns:

True if this is controlled by joint

getJacobian

public void getJacobian(long row,
                        long col,
                        Transform3D joint,
                        Transform3D tcp,
                        State state,
                        Jacobian jacobian)

Description copied from class: Joint

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).

Overrides:

getJacobian in class Joint

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.

getFixedTransform

public Transform3D getFixedTransform()

Description copied from class: Joint

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.

Overrides:

getFixedTransform in class Joint

Returns:

fixed part of transform from paretn to joint

setFixedTransform

public void setFixedTransform(Transform3D t3d)

Description copied from class: Joint

change the transform from parent to joint base.

Overrides:

setFixedTransform in class Joint

Parameters:

t3d - [in] the new transform.

getJointTransform

public Transform3D getJointTransform(State state)

Description copied from class: Joint

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

Overrides:

getJointTransform in class Joint

Parameters:

state - [in] the state from which to extract q

Returns:

the joint transformation

setJointMapping

public void setJointMapping(SWIGTYPE_p_rw__math__Function1DiffT_double_double_double_t__Ptr function)

Description copied from class: Joint

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.

Overrides:

setJointMapping in class Joint

Parameters:

function - [in] function with first order derivative.

removeJointMapping

public void removeJointMapping()

Description copied from class: Joint

removes mapping of joint values

Overrides:

removeJointMapping in class Joint