Class VirtualJoint


  • public class VirtualJoint
    extends Joint
    Virtuals joints.

    VirtualJoint is a joint with a role similar to a rw::kinematics::FixedFrame with
    an optional number of dof allocated in the state.

    Virtual joints are useful when you want a store joint values of e.g.
    a number of passive joints.
    • Constructor Detail

      • VirtualJoint

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

        public VirtualJoint​(java.lang.String name,
                            Transform3D transform,
                            long dof)
        A virtual joint with a displacement transform of transform.
        Parameters:
        name - [in] The name of the frame.
        transform - [in] The displacement transform of the joint.
        dof - [in] Number of degrees of freedom of the joint
    • Method Detail

      • getCPtr

        public static long getCPtr​(VirtualJoint obj)
      • delete

        public void delete()
        Overrides:
        delete in class Joint
      • getJacobian

        public void getJacobian​(long row,
                                long col,
                                Transform3D joint,
                                Transform3D tcp,
                                State state,
                                Jacobian jacobian)
        Description copied from class: Joint
        Finds the Jacobian of the joints and adds it in jacobian.

        Calculates the Jacobian contribution to the device Jacobian when controlling a frame
        tcp and given a current joint pose joint.

        The values are stored from row row to row+5 and column col to
        col+(joint.getDOF()-1).

        Overrides:
        getJacobian in class Joint
        Parameters:
        row - [in] Row where values should be stored
        col - [in] Column where values should be stored
        joint - [in] Transform of the joint
        tcp - [in] Transformation of the point to control
        state -
        jacobian - [in] Jacobian to which to add the results.
      • getFixedTransform

        public Transform3D getFixedTransform()
        Description copied from class: Joint
        get the fixed transform from parent to this joint

        Notice that this does not include the actual rotation of the joint (its state)
        only its fixed transform.

        Overrides:
        getFixedTransform in class Joint
        Returns:
        fixed part of transform from paretn to joint
      • setFixedTransform

        public void setFixedTransform​(Transform3D t3d)
        Description copied from class: Joint
        change the transform from parent to joint base.
        Overrides:
        setFixedTransform in class Joint
        Parameters:
        t3d - [in] the new transform.
      • getJointTransform

        public Transform3D getJointTransform​(State state)
        Description copied from class: Joint
        get the isolated joint transformation which is purely dependent on
        q.
        Overrides:
        getJointTransform in class Joint
        Parameters:
        state - [in] the state from which to extract q
        Returns:
        the joint transformation
      • removeJointMapping

        public void removeJointMapping()
        Description copied from class: Joint
        removes mapping of joint values
        Overrides:
        removeJointMapping in class Joint