RobWorkProject
Public Types | Public Member Functions | List of all members
TreeDevice Class Reference

A tree structured device. More...

#include <TreeDevice.hpp>

Inherits JointDevice.

Inherited by ParallelJawGripper.

Public Types

typedef rw::common::Ptr< TreeDevicePtr
 smart pointer type to this class
 
- Public Types inherited from JointDevice
typedef rw::common::Ptr< JointDevicePtr
 smart pointer type to this class
 
typedef rw::common::Ptr< const JointDeviceCPtr
 smart pointer type to this class
 
- Public Types inherited from Device
typedef rw::common::Ptr< DevicePtr
 smart pointer type to this class
 
typedef rw::common::Ptr< const DeviceCPtr
 const smart pointer type to this class
 
typedef std::pair< math::Q, math::QQBox
 Lower and upper corner of a box shaped configuration space.
 
- Public Types inherited from Stateless
typedef rw::common::Ptr< StatelessPtr
 Smart pointer type for Stateless.
 

Public Member Functions

 TreeDevice (kinematics::Frame *base, const std::vector< kinematics::Frame *> &ends, const std::string &name, const kinematics::State &state)
 Constructor. More...
 
virtual ~TreeDevice ()
 destructor
 
math::Jacobian baseJends (const kinematics::State &state) const
 like Device::baseJend() but with a Jacobian calculated for all end effectors.
 
const std::vector< kinematics::Frame * > & getEnds () const
 The end-effectors of the tree device.
 
const std::vector< kinematics::Frame * > & frames () const
 Frames of the device. More...
 
- Public Member Functions inherited from JointDevice
 JointDevice (const std::string &name, kinematics::Frame *base, kinematics::Frame *end, const std::vector< Joint *> &joints, const kinematics::State &state)
 Construct the device for a sequence of joints. More...
 
const std::vector< Joint * > & getJoints () const
 Get all joints of this device.
 
void setQ (const math::Q &q, kinematics::State &state) const
 Sets configuration vector $ \mathbf{q} \in \mathbb{R}^n $. More...
 
math::Q getQ (const kinematics::State &state) const
 Gets configuration vector $ \mathbf{q}\in \mathbb{R}^n $. More...
 
size_t getDOF () const
 Returns number of active joints. More...
 
std::pair< math::Q, math::QgetBounds () const
 Returns the upper $ \mathbf{q}_{min} \in \mathbb{R}^n $ and lower $ \mathbf{q}_{max} \in \mathbb{R}^n $ bounds of the joint space. More...
 
void setBounds (const std::pair< math::Q, math::Q > &bounds)
 Sets the upper $ \mathbf{q}_{min} \in \mathbb{R}^n $ and lower $ \mathbf{q}_{max} \in \mathbb{R}^n $ bounds of the joint space. More...
 
math::Q getVelocityLimits () const
 Returns the maximal velocity of the joints $\mathbf{\dot{q}}_{max}\in \mathbb{R}^n$. More...
 
void setVelocityLimits (const math::Q &vellimits)
 Sets the maximal velocity of the joints $\mathbf{\dot{q}}_{max}\in \mathbb{R}^n$. More...
 
math::Q getAccelerationLimits () const
 Returns the maximal acceleration of the joints $\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n$. More...
 
void setAccelerationLimits (const math::Q &acclimits)
 Sets the maximal acceleration of the joints $\mathbf{\ddot{q}}_{max}\in \mathbb{R}^n$. More...
 
math::Jacobian baseJend (const kinematics::State &state) const
 Calculates the jacobian matrix of the end-effector described in the robot base frame $ ^{base}_{end}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) $. More...
 
JacobianCalculatorPtr baseJCframes (const std::vector< kinematics::Frame *> &frames, const kinematics::State &state) const
 DeviceJacobian for a sequence of frames. More...
 
kinematics::FramegetBase ()
 a method to return the frame of the base of the device. More...
 
const kinematics::FramegetBase () const
 a method to return the frame of the base of the device. More...
 
virtual kinematics::FramegetEnd ()
 a method to return the frame of the end of the device More...
 
virtual const kinematics::FramegetEnd () const
 a method to return the frame of the end of the device More...
 
- Public Member Functions inherited from Device
 Device (const std::string &name)
 
virtual ~Device ()
 Virtual destructor.
 
const std::string & getName () const
 Returns the name of the device. More...
 
void setName (const std::string &name)
 Sets the name of the Device. More...
 
math::Transform3D< double > baseTframe (const kinematics::Frame *f, const kinematics::State &state) const
 Calculates the homogeneous transform from base to a frame f $ \robabx{b}{f}{\mathbf{T}} $. More...
 
math::Transform3D< double > baseTend (const kinematics::State &state) const
 Calculates the homogeneous transform from base to the end frame $ \robabx{base}{end}{\mathbf{T}} $. More...
 
math::Transform3D< double > worldTbase (const kinematics::State &state) const
 Calculates the homogeneous transform from world to base $ \robabx{w}{b}{\mathbf{T}} $. More...
 
virtual math::Jacobian baseJframe (const kinematics::Frame *frame, const kinematics::State &state) const
 Calculates the jacobian matrix of a frame f described in the robot base frame $ ^{base}_{frame}\mathbf{J}_{\mathbf{q}}(\mathbf{q}) $. More...
 
virtual math::Jacobian baseJframes (const std::vector< kinematics::Frame *> &frames, const kinematics::State &state) const
 The Jacobian for a sequence of frames. More...
 
virtual JacobianCalculator::Ptr baseJCend (const kinematics::State &state) const
 DeviceJacobian for the end frame. More...
 
virtual JacobianCalculator::Ptr baseJCframe (const kinematics::Frame *frame, const kinematics::State &state) const
 DeviceJacobian for a particular frame. More...
 
const common::PropertyMapgetPropertyMap () const
 Miscellaneous properties of the device. More...
 
common::PropertyMapgetPropertyMap ()
 Miscellaneous properties of the device. More...
 
- Public Member Functions inherited from Stateless
virtual ~Stateless ()
 destructor
 
virtual void registerIn (State &state)
 initialize this stateless data to a specific state More...
 
virtual void registerIn (StateStructure::Ptr state)
 register this stateless object in a statestructure.
 
virtual void unregister ()
 unregisters all state data of this stateless object
 
StateStructure::Ptr getStateStructure ()
 Get the state structure. More...
 
const StateStructure::Ptr getStateStructure () const
 Get the state structure. More...
 
bool isRegistered ()
 Check if object has registered its state. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Stateless
 Stateless ()
 constructor
 
template<class T >
void add (StatelessData< T > &data)
 implementations of sensor should add all their stateless data on initialization
 
void add (StateData *data)
 Add data. More...
 
void add (boost::shared_ptr< StateData > data)
 implementations of sensor should add all their state data on initialization
 
- Protected Attributes inherited from Stateless
bool _registered
 True if object has registered its state.
 
std::vector< boost::shared_ptr< StateData > > _datas
 Data.
 
StateStructure::Ptr _stateStruct
 The state structure.
 

Detailed Description

A tree structured device.

This device type defines devices that are tree-structured, with multiple end effectors. Typical for dexterous hands, and multi-armed robots.

dot_inline_dotgraph_2.png

Constructor & Destructor Documentation

◆ TreeDevice()

TreeDevice ( kinematics::Frame base,
const std::vector< kinematics::Frame *> &  ends,
const std::string &  name,
const kinematics::State state 
)

Constructor.

Parameters
base[in] the base frame of the robot
ends[in] the set of end-effectors of the robot
name[in] name of device
state[in] the initial state of everything

Member Function Documentation

◆ frames()

const std::vector<kinematics::Frame*>& frames ( ) const
inline

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.


The documentation for this class was generated from the following file: