Class Joint

    • 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