Class JointDevicePtr

  • public class JointDevicePtr
    extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.
    • Constructor Detail

      • JointDevicePtr

        public JointDevicePtr​(long cPtr,
                              boolean cMemoryOwn)
      • JointDevicePtr

        public JointDevicePtr()
        Default constructor yielding a NULL-pointer.
      • JointDevicePtr

        public JointDevicePtr​(JointDevice ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.
    • Method Detail

      • delete

        public void delete()
      • deref

        public JointDevice deref()
        The pointer stored in the object.
      • __ref__

        public JointDevice __ref__()
        Dereferencing operator.
      • getDeref

        public JointDevice getDeref()
        Member access operator.
      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        true if Ptr has shared ownership, false if it has no ownership.
      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns true if the pointer is null
      • getJoints

        public VectorJoint_p getJoints()
        Get all joints of this device
        all joints
      • setQ

        public void setQ​(Q q,
                         State state)
      • getQ

        public Q getQ​(State state)
      • getDOF

        public long getDOF()
      • getBounds

        public PairQ getBounds()
      • setBounds

        public void setBounds​(PairQ bounds)
      • getVelocityLimits

        public Q getVelocityLimits()
      • setVelocityLimits

        public void setVelocityLimits​(Q vellimits)
      • getAccelerationLimits

        public Q getAccelerationLimits()
      • setAccelerationLimits

        public void setAccelerationLimits​(Q acclimits)
      • getBase

        public Frame getBase()
      • getEnd

        public Frame getEnd()
      • getName

        public java.lang.String getName()
        Returns the name of the device
        name of the device
      • setName

        public void setName​(java.lang.String name)
        Sets the name of the Device
        name - [in] the new name of the frame
      • baseTframe

        public Transform3D baseTframe​(FrameCPtr f,
                                      State state)
        Calculates the homogeneous transform from base to a frame f
        the homogeneous transform \robabx{b}{f}{\mathbf{T}}
      • baseTend

        public Transform3D baseTend​(State state)
        Calculates the homogeneous transform from base to the end frame
        the homogeneous transform \robabx{base}{end}{\mathbf{T}}
      • worldTbase

        public Transform3D worldTbase​(State state)
        Calculates the homogeneous transform from world to base \robabx{w}{b}{\mathbf{T}}

        the homogeneous transform \robabx{w}{b}{\mathbf{T}}
      • baseJframe

        public Jacobian baseJframe​(FrameCPtr frame,
                                   State state)
        Calculates the jacobian matrix of a frame f described in the
        robot base frame ^{base}_{frame}\mathbf{J}_{\mathbf{q}}(\mathbf{q})

        frame - [in] Frame for which to calculate the Jacobian
        state - [in] State for which to calculate the Jacobian

        the 6*ndof jacobian matrix: {^{base}_{frame}}\mathbf{J}_{\mathbf{q}}(\mathbf{q})

        This method calculates the jacobian relating joint velocities ( \mathbf{\dot{q}} ) to the frame f velocity seen from base-frame
        ( \nu^{base}_{frame} )

        \nu^{base}_{frame} = {^{base}_{frame}}\mathbf{J}_\mathbf{q}(\mathbf{q})\mathbf{\dot{q}}

        The jacobian matrix {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q})
        is defined as:

        {^{base}_n}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) = \frac{\partial ^{base}\mathbf{x}_n}{\partial \mathbf{q}}

        By default the method forwards to baseJframes().
      • baseJframes

        public Jacobian baseJframes​(FrameVector frames,
                                    State state)
        The Jacobian for a sequence of frames.

        A Jacobian is computed for each of the frames and the Jacobians are
        stacked on top of eachother.
        frames - [in] the frames to calculate the frames from
        state - [in] the state to calculate in
        the jacobian
      • baseJCend

        public JacobianCalculatorPtr baseJCend​(State state)
        DeviceJacobian for the end frame.

        By default this method forwards to baseDJframe().
      • baseJCframe

        public JacobianCalculatorPtr baseJCframe​(FrameCPtr frame,
                                                 State state)
        DeviceJacobian for a particular frame.

        By default this method forwards to baseDJframes().
      • toString

        public java.lang.String toString()
        toString in class java.lang.Object
      • registerIn

        public void registerIn​(State state)
        initialize this stateless data to a specific state
        state - [in] the state in which to register the data.

        Note: the data will be registered in the state structure of the state
        and any copies or other instances of the state will therefore also
        contain the added states.
      • registerIn

        public void registerIn​(StateStructurePtr state)
        register this stateless object in a statestructure.
      • unregister

        public void unregister()
        unregisters all state data of this stateless object
      • getStateStructure

        public StateStructurePtr getStateStructure()
        Get the state structure.
        the state structure.
      • isRegistered

        public boolean isRegistered()
        Check if object has registered its state.
        true if registered, false otherwise.