Package org.robwork.sdurw_models

Class ParallelLeg

  • public class ParallelLeg
extends java.lang.Object
    Class representing a single leg in a ParallelDevice

    • Constructor Detail

      • ParallelLeg

        public ParallelLeg​(long cPtr,
                   boolean cMemoryOwn)

      • ParallelLeg

        public ParallelLeg​(FrameVector frames)
        Constructs leg from frames
        Parameters:
        frames - [in] list of Frame's

      • ParallelLeg

        public ParallelLeg​(VectorFramePtr frames)
        Constructs leg from frames
        Parameters:
        frames - [in] list of Frame's

    • Method Detail

      • getCPtr

        public static long getCPtr​(ParallelLeg obj)

      • delete

        public void delete()

      • baseJend

        public Jacobian baseJend​(State state)
        Returns the base to end Jacobian
        Parameters:
        state - [in] State for which to calculate the Jacobian
        Returns:
        the Jacobian

      • baseJframe

        public Jacobian baseJframe​(FrameCPtr frame,
                           State state)
        Returns the Jacobian of frame relative to base frame.
        Parameters:
        frame - [in] the frame to find Jacobian for.
        state - [in] State for which to calculate the Jacobian
        Returns:
        the Jacobian

      • baseTend

        public Transform3D baseTend​(State state)
        Returns the base to end transformation
        Parameters:
        state - [in] State for which to calculate the transform
        Returns:
        the transform

      • baseTframe

        public Transform3D baseTframe​(FrameCPtr frame,
                              State state)
        Returns the transformation of a frame relative to the base.
        Parameters:
        frame - [in] the frame to find transformation to.
        state - [in] State for which to calculate the transform
        Returns:
        the transform

      • getKinematicChain

        public FrameVector getKinematicChain()
        Returns the kinematic chain of the leg
        Returns:
        list of frames

      • getBase

        public Frame getBase()
        the base of the leg
        Returns:
        the frame

      • getEnd

        public Frame getEnd()
        the end of the leg
        Returns:
        the frame

      • nrOfActiveJoints

        public long nrOfActiveJoints()
        Number of active joints
        Returns:
        number of active joints

      • nrOfPassiveJoints

        public long nrOfPassiveJoints()
        Number of passive joints
        Returns:
        number of passive joints

      • nrOfJoints

        public long nrOfJoints()
        Number of joints (both active and passive)
        Returns:
        number of joints

      • getActuatedJoints

        public VectorJoint_p getActuatedJoints()
        Returns list of the actuated (active) joints
        Returns:
        list of joints

      • getUnactuatedJoints

        public VectorJoint_p getUnactuatedJoints()
        Returns list of unactuated (passive) joints
        Returns:
        list of joints

      • getJointDOFs

        public long getJointDOFs()
        Get the total degrees of freedom (includes both active and passive joints).
        Returns:
        the total degrees of freedom.

      • getQ

        public Q getQ​(State state)
        Get configuration of the leg.
        Parameters:
        state - [in] the state with the configuration values.
        Returns:
        the configuration.

      • setQ

        public void setQ​(Q q,
                 State state)
        Sets q for the leg in the state
        Parameters:
        q - [in] q to set
        state - [out] the State to modify