Class SerialDevice


  • public class SerialDevice
    extends JointDevice
    The device for a serial chain.

    SerialChain is like JointDevice except that SerialChain has the
    additional guarantee that the joints lie on a single parent to child
    path of the kinematic tree.
    • Constructor Detail

      • SerialDevice

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

        public SerialDevice​(FramePtr first,
                            FramePtr last,
                            java.lang.String name,
                            State state)
        Constructor

        Parameters:
        first - [in] the base frame of the robot
        last - [in] the end-effector of the robot
        name - [in] name of device
        state - [in] the connectedness of the frames
      • SerialDevice

        public SerialDevice​(FrameVector serialChain,
                            java.lang.String name,
                            State state)
        Creates object

        Parameters:
        serialChain - [in] a vector of connected frames. The
        first frame in serialChain is the base of the device and
        the last frame of serialChain is the end of the device.
        The joints of the device are the active joints of
        serialChain.

        name - [in] name of device

        state - [in] the initial state of everything
    • Method Detail

      • getCPtr

        public static long getCPtr​(SerialDevice obj)
      • frames

        public FrameVector frames()
        Frames of the device.

        This method is being used when displaying the kinematic
        structure of devices in RobWorkStudio. The method really
        isn't of much use for everyday programming.

        Returns:
        list of raw Frame pointers.