Package org.robwork.sdurw_models

Class RevoluteJointCPtr

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

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      RevoluteJoint __ref__()
      Dereferencing operator.
      void delete()  
      RevoluteJoint deref()
      The pointer stored in the object.
      boolean equals​(RevoluteJoint p)  
      Transform3D fTf​(FrameCPtr to, State state)
      Get the transform of other frame relative to this frame.
      PairQ getBounds()
      Gets joint bounds
      StateCachePtr getCache​(State state)
      Get the cache.
      static long getCPtr​(RevoluteJointCPtr obj)  
      RevoluteJoint getDeref()
      Member access operator.
      int getDOF()
      The number of degrees of freedom (dof) of the frame.

      The dof is the number of joint values that are used for controlling
      the frame.

      Given a set joint values of type State, the getDof() number of joint
      values for the frame can be read and written with State::getQ() and
      State::setQ().
      Transform3D getFixedTransform()  
      int getID()
      An integer ID for the StateData.

      IDs are assigned to the state data upon insertion State.
      StateData that are not in a State have an ID of -1.

      StateData present in different trees may have identical IDs.

      IDs are used for the efficient implementation of State.
      void getJacobian​(long row, long col, Transform3D joint, Transform3D tcp, State state, Jacobian jacobian)  
      Transform3D getJointTransform​(double q)
      The transform of the joint relative to its parent.

      The transform is calculated for the joint values of state.

      This method is equivalent to Frame::multiplyTransform except that is operates
      directly on a joint vector instead of a State.
      Transform3D getJointTransform​(State state)  
      Q getMaxAcceleration()
      Gets max acceleration of joint
      Q getMaxVelocity()
      Gets max velocity of joint
      java.lang.String getName()
      The name of the state data.
      Transform3D getTransform​(double q)
      The transform of the joint relative to its parent.

      The transform is calculated for the joint values of state.

      This method is equivalent to Frame::multiplyTransform except that is operates
      directly on a joint vector instead of a State.
      Transform3D getTransform​(State state)
      The transform of the frame relative to its parent.

      The transform is calculated for the joint values of state.

      The exact implementation of getTransform() depends on the type of
      frame.
      boolean hasCache()
      Check is state data includes a cache.
      boolean isActive()
      a joint is active if its motorized/controlled in some
      fasion.
      boolean isNull()
      checks if the pointer is null
      boolean isShared()
      check if this Ptr has shared ownership or none
      ownership
      void multiplyJointTransform​(Transform3D parent, Q q, Transform3D result)
      Post-multiply the transform of the joint to the parent transform.

      The transform is calculated for the joint values of q.

      This method is equivalent to Frame::multiplyTransform except that is operates
      directly on a joint vector instead of a State.
      void multiplyTransform​(Transform3D parent, State state, Transform3D result)
      Post-multiply the transform of the frame to the parent transform.

      The transform is calculated for the joint values of state.

      The exact implementation of getTransform() depends on the type of
      frame.
      void setData​(State state, double val)
      Assign for state data the size() of values of the array
      vals.

      The array vals must be of length at least size().
      void setData​(State state, vector_d vals)
      Assign for state data the size() of values of the array
      vals.

      The array vals must be of length at least size().
      int size()
      The number of doubles allocated by this StateData in
      each State object.
      Transform3D wTf​(State state)
      Get the transform relative to world.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • RevoluteJointCPtr

        public RevoluteJointCPtr​(long cPtr,
                         boolean cMemoryOwn)

      • RevoluteJointCPtr

        public RevoluteJointCPtr()
        Default constructor yielding a NULL-pointer.

      • RevoluteJointCPtr

        public RevoluteJointCPtr​(RevoluteJoint 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 RevoluteJoint deref()
        The pointer stored in the object.

      • __ref__

        public RevoluteJoint __ref__()
        Dereferencing operator.

      • getDeref

        public RevoluteJoint getDeref()
        Member access operator.

      • isShared

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

      • isNull

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

      • multiplyJointTransform

        public void multiplyJointTransform​(Transform3D parent,
                                   Q q,
                                   Transform3D result)
        Post-multiply the transform of the joint to the parent transform.

        The transform is calculated for the joint values of q.

        This method is equivalent to Frame::multiplyTransform except that is operates
        directly on a joint vector instead of a State.

        Parameters:
        parent - [in] The world transform of the parent frame.
        q - [in] Joint values for the joint
        result - [in] The transform of the frame in the world frame.

      • getJointTransform

        public Transform3D getJointTransform​(double q)
        The transform of the joint relative to its parent.

        The transform is calculated for the joint values of state.

        This method is equivalent to Frame::multiplyTransform except that is operates
        directly on a joint vector instead of a State.


        Parameters:
        q - [in] Joint values for the joint

        Returns:
        The transform of the frame relative to its displacement transform.

      • getTransform

        public Transform3D getTransform​(double q)
        The transform of the joint relative to its parent.

        The transform is calculated for the joint values of state.

        This method is equivalent to Frame::multiplyTransform except that is operates
        directly on a joint vector instead of a State.


        Parameters:
        q - [in] Joint values for the joint

        Returns:
        The transform of the frame relative to its parent frame.

      • getTransform

        public Transform3D getTransform​(State state)
        The transform of the frame relative to its parent.

        The transform is calculated for the joint values of state.

        The exact implementation of getTransform() depends on the type of
        frame. See for example RevoluteJoint and PrismaticJoint.

        Parameters:
        state - [in] Joint values for the forward kinematics tree.

        Returns:
        The transform of the frame relative to its parent.

      • getFixedTransform

        public Transform3D getFixedTransform()

      • getBounds

        public PairQ getBounds()
        Gets joint bounds
        Returns:
        the lower and upper bound of this joint

      • getMaxVelocity

        public Q getMaxVelocity()
        Gets max velocity of joint
        Returns:
        the maximum velocity of the joint

      • getMaxAcceleration

        public Q getMaxAcceleration()
        Gets max acceleration of joint
        Returns:
        the maximum acceleration of the joint

      • 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:

      • multiplyTransform

        public void multiplyTransform​(Transform3D parent,
                              State state,
                              Transform3D result)
        Post-multiply the transform of the frame to the parent transform.

        The transform is calculated for the joint values of state.

        The exact implementation of getTransform() depends on the type of
        frame. See for example RevoluteJoint and PrismaticJoint.

        Parameters:
        parent - [in] The world transform of the parent frame.
        state - [in] Joint values for the forward kinematics tree.
        result - [in] The transform of the frame in the world frame.

      • getDOF

        public int getDOF()
        The number of degrees of freedom (dof) of the frame.

        The dof is the number of joint values that are used for controlling
        the frame.

        Given a set joint values of type State, the getDof() number of joint
        values for the frame can be read and written with State::getQ() and
        State::setQ().

        Returns:
        The number of degrees of freedom of the frame.

      • wTf

        public Transform3D wTf​(State state)
        Get the transform relative to world.
        Parameters:
        state - [in] the state.
        Returns:
        transform relative to world.

      • fTf

        public Transform3D fTf​(FrameCPtr to,
                       State state)
        Get the transform of other frame relative to this frame.
        Parameters:
        to - [in] the other frame
        state - [in] the state.
        Returns:
        transform of frame to relative to this frame.

      • getID

        public int getID()
        An integer ID for the StateData.

        IDs are assigned to the state data upon insertion State.
        StateData that are not in a State have an ID of -1.

        StateData present in different trees may have identical IDs.

        IDs are used for the efficient implementation of State. Normally,
        you should not make use of StateData IDs yourself.

        Returns:
        An integer ID for the frame.

      • getName

        public java.lang.String getName()
        The name of the state data.

        Returns:
        The name of the state data.

      • size

        public int size()
        The number of doubles allocated by this StateData in
        each State object.

        Returns:
        The number of doubles allocated by the StateData

      • setData

        public void setData​(State state,
                    vector_d vals)
        Assign for state data the size() of values of the array
        vals.

        The array vals must be of length at least size().

        Parameters:
        state - [inout] The state to which vals are written.

        vals - [in] The joint values to assign.

        setData() and getData() are related as follows:
        data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

      • setData

        public void setData​(State state,
                    double val)
        Assign for state data the size() of values of the array
        vals.

        The array vals must be of length at least size().

        Parameters:
        state - [inout] The state to which vals are written.



        setData() and getData() are related as follows:
        data.setData(state, q_in); const double* q_out = data.getData(state); for (int i = 0; i < data.getDOF(); i++) q_in[i] == q_out[i];

      • hasCache

        public boolean hasCache()
        Check is state data includes a cache.
        Returns:
        true if cache, false otherwise.

      • getCache

        public StateCachePtr getCache​(State state)
        Get the cache.
        Parameters:
        state - [in] the state.
        Returns:
        the cache.