Package org.robwork.sdurw_models

Class Joint

java.lang.Object

org.robwork.sdurw_kinematics.StateData

org.robwork.sdurw_kinematics.Frame

org.robwork.sdurw_models.Joint

Direct Known Subclasses:

DependentJoint, PrismaticJoint, PrismaticSphericalJoint, PrismaticUniversalJoint, RevoluteJoint, SphericalJoint, UniversalJoint, VirtualJoint

public class Joint
extends Frame

A Joint is a Frame with assignable values for
position, velocity limits and acceleration limits.

Constructor Summary

Constructors

Constructor	Description
Joint(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
PairQ	getBounds()	Gets joint bounds
static long	getCPtr(Joint 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.
Q	getMaxAcceleration()	Gets max acceleration of joint
Q	getMaxVelocity()	Gets max velocity of joint
boolean	isActive()	a joint is active if its motorized/controlled in some fasion.
void	removeJointMapping()	removes mapping of joint values
void	setActive(boolean isActive)	set the active state of the joint
void	setBounds(PairConstQ bounds)	Sets joint bounds
void	setBounds(Q lower, Q upper)	Sets joint bounds
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.
void	setMaxAcceleration(Q maxAcceleration)	Sets max acceleration of joint
void	setMaxVelocity(Q maxVelocity)	Sets max velocity of joint

Methods inherited from class org.robwork.sdurw_kinematics.Frame

attachTo, equals, fTf, getChildren, getChildren, getChildrenList, getCPtr, getDafChildren, getDafParent, getDOF, getParent, getParent, getPropertyMap, getTransform, 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

Joint

public Joint(long cPtr,
             boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(Joint obj)

delete

public void delete()

Overrides:

delete in class Frame

setBounds

public void setBounds(PairConstQ bounds)

Sets joint bounds

Parameters:

bounds - [in] the lower and upper bounds of this joint

setBounds

public void setBounds(Q lower,
                      Q upper)

Sets joint bounds

Parameters:

lower - [in] the lower of this joint

upper - [in] the upper of this joint

getBounds

public PairQ getBounds()

Gets joint bounds

Returns:

the lower and upper bound of this joint

setMaxVelocity

public void setMaxVelocity(Q maxVelocity)

Sets max velocity of joint

Parameters:

maxVelocity - [in] the new maximum velocity of the joint

getMaxVelocity

public Q getMaxVelocity()

Gets max velocity of joint

Returns:

the maximum velocity of the joint

setMaxAcceleration

public void setMaxAcceleration(Q maxAcceleration)

Sets max acceleration of joint

Parameters:

maxAcceleration - [in] the new maximum acceleration of the joint

getMaxAcceleration

public Q getMaxAcceleration()

Gets max acceleration of joint

Returns:

the maximum acceleration of the joint

getJacobian

public 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).

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()

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.

Returns:

fixed part of transform from paretn to joint

setFixedTransform

public void setFixedTransform(Transform3D t3d)

change the transform from parent to joint base.

Parameters:

t3d - [in] the new transform.

getJointTransform

public Transform3D getJointTransform(State state)

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

Parameters:

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

Returns:

the joint transformation

setActive

public void setActive(boolean isActive)

set the active state of the joint

Parameters:

isActive - [in] true to enable control/motorization of joint, false otherwise

isActive

public boolean isActive()

a joint is active if its motorized/controlled in some
fasion. passive or non-active joints are typically used in parrallel robots.

Returns:

setJointMapping

public 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. by a calibration.

Parameters:

function - [in] function with first order derivative.

removeJointMapping

public void removeJointMapping()

removes mapping of joint values