Package org.robwork.sdurw_models

Class Models

  • public class Models
extends java.lang.Object
    Utility functions for the rw::models module.

    • Constructor Summary

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

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      static FrameVector findAllFrames​(WorkCell workcell)
      All frames of the workcell.
      static long getCPtr​(Models obj)  
      static DevicePtr getDevice​(WorkCell workcell, java.lang.String name)
      The device named name of workcell workcell.

      An exception is thrown if the device can not be found in the workcell.

      See WorkCell::findDevice() for a non-throwing version.
      static Frame getFrame​(WorkCell workcell, java.lang.String name)
      The frame named name of workcell workcell.

      An exception is thrown if the frame can not be found in the workcell.

      See WorkCell::findFrame() for a non-throwing version.
      static VectorState getStatePath​(Device device, VectorQ path, State common_state)
      Convert a sequence of configurations to a sequence of states.
      The device configurations are assumed to belong to a common device
      and state.
      static void getStatePath​(Device device, VectorQ path, State common_state, VectorState result)
      Convert a sequence of configurations to a sequence of states.

      The device configurations are assumed to belong to a common device
      and state.
      static boolean inBounds​(State state, WorkCell workcell)
      True iff the joint values of state are within the joint limits
      of the joints of workcell with a tolerance of tolerance.
      static boolean inBounds​(State state, WorkCell workcell, double tolerance)
      True iff the joint values of state are within the joint limits
      of the joints of workcell with a tolerance of tolerance.
      static boolean inBounds​(Q q, PairQ bounds)
      True iff the configuration q is within the box with lower and
      upper corners given by bounds.
      static boolean inBounds​(Q q, PairQ bounds, double tolerance)
      True iff the configuration q is within the box with lower and
      upper corners given by bounds.
      static boolean inBounds​(Q q, Device device)
      True iff the configuration q is within the joint limits of the
      device device.
      static boolean inBounds​(Q q, Device device, double tolerance)
      True iff the configuration q is within the joint limits of the
      device device.
      static boolean inBounds​(Q val, Joint joint)
      True iff the joint value val is within the joint limits of the
      joint joint with a tolerance of tolerance.
      static boolean inBounds​(Q val, Joint joint, double tolerance)
      True iff the joint value val is within the joint limits of the
      joint joint with a tolerance of tolerance.
      static DevicePtr makeDevice​(DevicePtr device, State state)
      Construct a new device for which the base of the device equals
      base and the end of the device equals end.

      For changes in the configuration of device, base should be
      fixed relative to device->getBase() and end should be fixed
      relative to device->getEnd().

      If base is NULL, then device->getBase() is used as the default
      value.

      If end is NULL, then device->getEnd() is used as the default
      value.

      If base and end equal base and end for the device, then the
      original device is returned.
      static DevicePtr makeDevice​(DevicePtr device, State state, FramePtr base)
      Construct a new device for which the base of the device equals
      base and the end of the device equals end.

      For changes in the configuration of device, base should be
      fixed relative to device->getBase() and end should be fixed
      relative to device->getEnd().

      If base is NULL, then device->getBase() is used as the default
      value.

      If end is NULL, then device->getEnd() is used as the default
      value.

      If base and end equal base and end for the device, then the
      original device is returned.
      static DevicePtr makeDevice​(DevicePtr device, State state, FramePtr base, FramePtr end)
      Construct a new device for which the base of the device equals
      base and the end of the device equals end.

      For changes in the configuration of device, base should be
      fixed relative to device->getBase() and end should be fixed
      relative to device->getEnd().

      If base is NULL, then device->getBase() is used as the default
      value.

      If end is NULL, then device->getEnd() is used as the default
      value.

      If base and end equal base and end for the device, then the
      original device is returned.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • Models

        public Models​(long cPtr,
              boolean cMemoryOwn)

      • Models

        public Models()

    • Method Detail

      • getCPtr

        public static long getCPtr​(Models obj)

      • delete

        public void delete()

      • findAllFrames

        public static FrameVector findAllFrames​(WorkCell workcell)
        All frames of the workcell.

      • getFrame

        public static Frame getFrame​(WorkCell workcell,
                             java.lang.String name)
        The frame named name of workcell workcell.

        An exception is thrown if the frame can not be found in the workcell.

        See WorkCell::findFrame() for a non-throwing version.

      • getDevice

        public static DevicePtr getDevice​(WorkCell workcell,
                                  java.lang.String name)
        The device named name of workcell workcell.

        An exception is thrown if the device can not be found in the workcell.

        See WorkCell::findDevice() for a non-throwing version.

      • inBounds

        public static boolean inBounds​(Q q,
                               PairQ bounds,
                               double tolerance)
        True iff the configuration q is within the box with lower and
        upper corners given by bounds. Each value of q is allowed to be
        outside of the box by the amount tolerance.

      • inBounds

        public static boolean inBounds​(Q q,
                               PairQ bounds)
        True iff the configuration q is within the box with lower and
        upper corners given by bounds. Each value of q is allowed to be
        outside of the box by the amount tolerance.

      • inBounds

        public static boolean inBounds​(Q q,
                               Device device,
                               double tolerance)
        True iff the configuration q is within the joint limits of the
        device device.

      • inBounds

        public static boolean inBounds​(Q q,
                               Device device)
        True iff the configuration q is within the joint limits of the
        device device.

      • inBounds

        public static boolean inBounds​(Q val,
                               Joint joint,
                               double tolerance)
        True iff the joint value val is within the joint limits of the
        joint joint with a tolerance of tolerance.

      • inBounds

        public static boolean inBounds​(Q val,
                               Joint joint)
        True iff the joint value val is within the joint limits of the
        joint joint with a tolerance of tolerance.

      • inBounds

        public static boolean inBounds​(State state,
                               WorkCell workcell,
                               double tolerance)
        True iff the joint values of state are within the joint limits
        of the joints of workcell with a tolerance of tolerance.

      • inBounds

        public static boolean inBounds​(State state,
                               WorkCell workcell)
        True iff the joint values of state are within the joint limits
        of the joints of workcell with a tolerance of tolerance.

      • getStatePath

        public static VectorState getStatePath​(Device device,
                                       VectorQ path,
                                       State common_state)
        Convert a sequence of configurations to a sequence of states.
        The device configurations are assumed to belong to a common device
        and state.
        Parameters:
        device - [in] The device for the configurations.
        path - [in] The sequence of device configurations.
        common_state - [in] State to share for all configurations.
        Returns:
        Sequence of states - one state for each configuration.

      • getStatePath

        public static void getStatePath​(Device device,
                                VectorQ path,
                                State common_state,
                                VectorState result)
        Convert a sequence of configurations to a sequence of states.

        The device configurations are assumed to belong to a common device
        and state.

        Parameters:
        device - [in] The device for the configurations.
        path - [in] The sequence of device configurations.
        common_state - [in] State to share for all configurations.
        result - [out] Sequence of states - one state for each configuration.

      • makeDevice

        public static DevicePtr makeDevice​(DevicePtr device,
                                   State state,
                                   FramePtr base,
                                   FramePtr end)
        Construct a new device for which the base of the device equals
        base and the end of the device equals end.

        For changes in the configuration of device, base should be
        fixed relative to device->getBase() and end should be fixed
        relative to device->getEnd().

        If base is NULL, then device->getBase() is used as the default
        value.

        If end is NULL, then device->getEnd() is used as the default
        value.

        If base and end equal base and end for the device, then the
        original device is returned.

        Parameters:
        device - [in] Original device.

        state - [in] The kinematic structure assumed for Jacobian
        computations.

        base - [in] Base frame for the new device.
        end - [in] End frame for the new device.

      • makeDevice

        public static DevicePtr makeDevice​(DevicePtr device,
                                   State state,
                                   FramePtr base)
        Construct a new device for which the base of the device equals
        base and the end of the device equals end.

        For changes in the configuration of device, base should be
        fixed relative to device->getBase() and end should be fixed
        relative to device->getEnd().

        If base is NULL, then device->getBase() is used as the default
        value.

        If end is NULL, then device->getEnd() is used as the default
        value.

        If base and end equal base and end for the device, then the
        original device is returned.

        Parameters:
        device - [in] Original device.

        state - [in] The kinematic structure assumed for Jacobian
        computations.

        base - [in] Base frame for the new device.

      • makeDevice

        public static DevicePtr makeDevice​(DevicePtr device,
                                   State state)
        Construct a new device for which the base of the device equals
        base and the end of the device equals end.

        For changes in the configuration of device, base should be
        fixed relative to device->getBase() and end should be fixed
        relative to device->getEnd().

        If base is NULL, then device->getBase() is used as the default
        value.

        If end is NULL, then device->getEnd() is used as the default
        value.

        If base and end equal base and end for the device, then the
        original device is returned.

        Parameters:
        device - [in] Original device.

        state - [in] The kinematic structure assumed for Jacobian
        computations.