Package org.robwork.sdurw_models

Class SerialDevice

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_models.Device

org.robwork.sdurw_models.JointDevice

org.robwork.sdurw_models.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 Summary

Constructors

Constructor	Description
SerialDevice(long cPtr, boolean cMemoryOwn)
SerialDevice(FramePtr first, FramePtr last, java.lang.String name, State state)	Constructor
SerialDevice(FrameVector serialChain, java.lang.String name, State state)	Creates object

Method Summary

Modifier and Type	Method	Description
void	delete()
FrameVector	frames()	Frames of the device. This method is being used when displaying the kinematic structure of devices in RobWorkStudio.
static long	getCPtr(SerialDevice obj)

Methods inherited from class org.robwork.sdurw_models.JointDevice

baseJCframes, baseJend, getAccelerationLimits, getBase, getBounds, getCPtr, getDOF, getEnd, getJoints, getQ, getVelocityLimits, setAccelerationLimits, setBounds, setQ, setVelocityLimits

Methods inherited from class org.robwork.sdurw_models.Device

baseJCend, baseJCframe, baseJframe, baseJframes, baseTend, baseTframe, getCPtr, getName, getPropertyMap, setName, toString, worldTbase

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

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

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)

delete

public void delete()

Overrides:

delete in class JointDevice

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.