java.lang.Object
- org.robwork.sdurw_kinematics.Stateless
- - org.robwork.sdurw_models.Device
  - - org.robwork.sdurw_models.JointDevice

Direct Known Subclasses:

CompositeDevice, CompositeJointDevice, ParallelDevice, SerialDevice, TreeDevice
```
public class JointDevice
extends Device
```
A device for a sequence of joints.

Contrary to for example SerialDevice and TreeDevice, the joints need not
have any particular ordering within the kinematic tree.

A JointDevice is a joint for which the values of the configuration Q each
correspond to a frame of type Joint.

To implement a Device it is common to derive from JointDevice and just
add implement methods where your device differs from the standard
behaviour. Subclasses typically differ in their implementation of setQ()
and the Jacobian computation.

Constructor Summary

Constructors
Constructor	Description
`JointDevice(long cPtr, boolean cMemoryOwn)`
`JointDevice(java.lang.String name, FramePtr base, FramePtr end, VectorJoint_p joints, State state)`	Construct the device for a sequence of joints.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`JacobianCalculatorPtr`	`baseJCframes(FrameVector frames, State state)`	DeviceJacobian for a sequence of frames.
`Jacobian`	`baseJend(State state)`
`void`	`delete()`
`Q`	`getAccelerationLimits()`	Returns the maximal acceleration of the joints \mathbf{\ddot{q}}_{max}\in \mathbb{R}^n It is assumed that \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}
`Frame`	`getBase()`	a method to return the frame of the base of the device.
`PairQ`	`getBounds()`	Returns the upper \mathbf{q}_{min} \in \mathbb{R}^n and lower \mathbf{q}_{max} \in \mathbb{R}^n bounds of the joint space
`static long`	`getCPtr(JointDevice obj)`
`long`	`getDOF()`	Returns number of active joints
`Frame`	`getEnd()`	a method to return the frame of the end of the device
`VectorJoint_p`	`getJoints()`	Get all joints of this device
`Q`	`getQ(State state)`	Gets configuration vector \mathbf{q}\in \mathbb{R}^n
`Q`	`getVelocityLimits()`	Returns the maximal velocity of the joints \mathbf{\dot{q}}_{max}\in \mathbb{R}^n It is assumed that \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}
`void`	`setAccelerationLimits(Q acclimits)`	Sets the maximal acceleration of the joints \mathbf{\ddot{q}}_{max}\in \mathbb{R}^n It is assumed that \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}
`void`	`setBounds(PairQ bounds)`	Sets the upper \mathbf{q}_{min} \in \mathbb{R}^n and lower \mathbf{q}_{max} \in \mathbb{R}^n bounds of the joint space
`void`	`setQ(Q q, State state)`	Sets configuration vector \mathbf{q} \in \mathbb{R}^n
`void`	`setVelocityLimits(Q vellimits)`	Sets the maximal velocity of the joints \mathbf{\dot{q}}_{max}\in \mathbb{R}^n It is assumed that \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}

Methods inherited from class org.robwork.sdurw_models.Device
baseJCend, baseJCframe, baseJframe, baseJframes, baseTend, baseTframe, getCPtr, getName, getPropertyMap, setName, toString, worldTbase

Methods inherited from class org.robwork.sdurw_kinematics.Stateless
getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - JointDevice
```
public JointDevice(long cPtr,
                   boolean cMemoryOwn)
```
  - JointDevice
```
public JointDevice(java.lang.String name,
                   FramePtr base,
                   FramePtr end,
                   VectorJoint_p joints,
                   State state)
```
    Construct the device for a sequence of joints.
    
    Parameters:
    
    name - [in] name of device
    
    base - [in] the base of the device
    
    end - [in] the end (or tool) of the device
    
    joints - [in] the joints of the device
    
    state - [in] the state that shows how frames are connected as
    needed for the computation of Jacobians.
- Method Detail
  - getCPtr
```
public static long getCPtr(JointDevice obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class Device
  - getJoints
```
public VectorJoint_p getJoints()
```
    Get all joints of this device
    
    Returns:
    
    all joints
  - setQ
```
public void setQ(Q q,
                 State state)
```
    Description copied from class: Device
    
    Sets configuration vector \mathbf{q} \in \mathbb{R}^n
    
    Overrides:
    
    setQ in class Device
    
    Parameters:
    
    q - [in] configuration vector \mathbf{q}
    
    state - [in] state into which to set \mathbf{q}
  - getQ
```
public Q getQ(State state)
```
    Description copied from class: Device
    
    Gets configuration vector \mathbf{q}\in \mathbb{R}^n
    
    Overrides:
    
    getQ in class Device
    
    Parameters:
    
    state - [in] state from which which to get \mathbf{q}
    
    Returns:
    
    configuration vector \mathbf{q}
  - getDOF
```
public long getDOF()
```
    Description copied from class: Device
    
    Returns number of active joints
    
    Overrides:
    
    getDOF in class Device
    
    Returns:
    
    number of active joints n
  - getBounds
```
public PairQ getBounds()
```
    Description copied from class: Device
    
    Returns the upper \mathbf{q}_{min} \in \mathbb{R}^n and
    lower \mathbf{q}_{max} \in \mathbb{R}^n bounds of the joint space
    
    Overrides:
    
    getBounds in class Device
    
    Returns:
    
    std::pair containing (\mathbf{q}_{min}, \mathbf{q}_{max})
  - setBounds
```
public void setBounds(PairQ bounds)
```
    Description copied from class: Device
    
    Sets the upper \mathbf{q}_{min} \in \mathbb{R}^n and
    lower \mathbf{q}_{max} \in \mathbb{R}^n bounds of the joint space
    
    Overrides:
    
    setBounds in class Device
    
    Parameters:
    
    bounds - [in] std::pair containing
    (\mathbf{q}_{min}, \mathbf{q}_{max})
  - getVelocityLimits
```
public Q getVelocityLimits()
```
    Description copied from class: Device
    
    Returns the maximal velocity of the joints
    \mathbf{\dot{q}}_{max}\in \mathbb{R}^n
    
    It is assumed that \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}
    
    Overrides:
    
    getVelocityLimits in class Device
    
    Returns:
    
    the maximal velocity
  - setVelocityLimits
```
public void setVelocityLimits(Q vellimits)
```
    Description copied from class: Device
    
    Sets the maximal velocity of the joints
    \mathbf{\dot{q}}_{max}\in \mathbb{R}^n
    
    It is assumed that \dot{\mathbf{q}}_{min}=-\dot{\mathbf{q}}_{max}
    
    Overrides:
    
    setVelocityLimits in class Device
    
    Parameters:
    
    vellimits - [in] Q with the maximal velocity
  - getAccelerationLimits
```
public Q getAccelerationLimits()
```
    Description copied from class: Device
    
    Returns the maximal acceleration of the joints
    \mathbf{\ddot{q}}_{max}\in \mathbb{R}^n
    
    It is assumed that \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}
    
    Overrides:
    
    getAccelerationLimits in class Device
    
    Returns:
    
    the maximal acceleration
  - setAccelerationLimits
```
public void setAccelerationLimits(Q acclimits)
```
    Description copied from class: Device
    
    Sets the maximal acceleration of the joints
    \mathbf{\ddot{q}}_{max}\in \mathbb{R}^n
    
    It is assumed that \ddot{\mathbf{q}}_{min}=-\ddot{\mathbf{q}}_{max}
    
    Overrides:
    
    setAccelerationLimits in class Device
    
    Parameters:
    
    acclimits - [in] the maximal acceleration
  - baseJend
```
public Jacobian baseJend(State state)
```
    Overrides:
    
    baseJend in class Device
  - baseJCframes
```
public JacobianCalculatorPtr baseJCframes(FrameVector frames,
                                          State state)
```
    Description copied from class: Device
    
    DeviceJacobian for a sequence of frames.
    
    Overrides:
    
    baseJCframes in class Device
  - getBase
```
public Frame getBase()
```
    Description copied from class: Device
    
    a method to return the frame of the base of the device.
    
    Overrides:
    
    getBase in class Device
    
    Returns:
    
    the base frame
  - getEnd
```
public Frame getEnd()
```
    Description copied from class: Device
    
    a method to return the frame of the end of the device
    
    Overrides:
    
    getEnd in class Device
    
    Returns:
    
    the end frame

Class JointDevice

Constructor Summary

Method Summary

Methods inherited from class org.robwork.sdurw_models.Device

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

Methods inherited from class java.lang.Object

Constructor Detail

JointDevice

JointDevice

Method Detail

getCPtr

delete

getJoints

setQ

getQ

getDOF

getBounds

setBounds

getVelocityLimits

setVelocityLimits

getAccelerationLimits

setAccelerationLimits

baseJend

baseJCframes

getBase

getEnd