Package org.robwork.sdurw_models

Class JacobianUtil

  • public class JacobianUtil
extends java.lang.Object
    Primitive utilities for computing jacobians for joints of various
    types.

    • Constructor Summary

      Constructors 
      Constructor Description
      JacobianUtil()  
      JacobianUtil​(long cPtr, boolean cMemoryOwn)  

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      static void addPassiveRevoluteJacobianCol​(Jacobian jacobian, int row, int col, Transform3D passive, Transform3D tcp, double scale)
      Add to column col of jacobian the Jacobian for a passive
      revolute joint at position passive that controls the tool at
      position tcp.
      static void addPrismaticJacobianCol​(Jacobian jacobian, int row, int col, Transform3D joint, Transform3D tcp)
      Add to column col of jacobian the Jacobian of a
      prismatic joint with transform joint for a tool position of
      tcp.

      The Jacobian is given relative to the common world frame of joint
      and tcp.
      static void addRevoluteJacobianCol​(Jacobian jacobian, int row, int col, Transform3D joint, Transform3D tcp)
      Add to column col of jacobian the Jacobian of a revolute
      joint with transform joint for a tool position of tcp.

      The Jacobian is given relative to the common world frame of joint
      and tcp.
      void delete()  
      static long getCPtr​(JacobianUtil obj)  
      static boolean isInSubTree​(Frame parent, Frame child, State state)
      True iff child is in the subtree of parent for a tree
      structure of state.

      isInSubTree(frame, frame, state) is true always.

      This utility function is used for checking if a given joint does
      affect some tcp frame or if the Jacobian column for that joint should
      be considered zero.

      isInSubTree() runs in time proportional to the size of the subtree.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • JacobianUtil

        public JacobianUtil​(long cPtr,
                    boolean cMemoryOwn)

      • JacobianUtil

        public JacobianUtil()

    • Method Detail

      • getCPtr

        public static long getCPtr​(JacobianUtil obj)

      • delete

        public void delete()

      • addRevoluteJacobianCol

        public static void addRevoluteJacobianCol​(Jacobian jacobian,
                                          int row,
                                          int col,
                                          Transform3D joint,
                                          Transform3D tcp)
        Add to column col of jacobian the Jacobian of a revolute
        joint with transform joint for a tool position of tcp.

        The Jacobian is given relative to the common world frame of joint
        and tcp.

      • addPrismaticJacobianCol

        public static void addPrismaticJacobianCol​(Jacobian jacobian,
                                           int row,
                                           int col,
                                           Transform3D joint,
                                           Transform3D tcp)
        Add to column col of jacobian the Jacobian of a
        prismatic joint with transform joint for a tool position of
        tcp.

        The Jacobian is given relative to the common world frame of joint
        and tcp.

      • addPassiveRevoluteJacobianCol

        public static void addPassiveRevoluteJacobianCol​(Jacobian jacobian,
                                                 int row,
                                                 int col,
                                                 Transform3D passive,
                                                 Transform3D tcp,
                                                 double scale)
        Add to column col of jacobian the Jacobian for a passive
        revolute joint at position passive that controls the tool at
        position tcp. The joint scaling factor of the passive joint is
        scale.

        The Jacobian is given relative to the common world frame of joint
        and tcp.

      • isInSubTree

        public static boolean isInSubTree​(Frame parent,
                                  Frame child,
                                  State state)
        True iff child is in the subtree of parent for a tree
        structure of state.

        isInSubTree(frame, frame, state) is true always.

        This utility function is used for checking if a given joint does
        affect some tcp frame or if the Jacobian column for that joint should
        be considered zero.

        isInSubTree() runs in time proportional to the size of the subtree.