robot::JFKengine Class Reference

Inheritance diagram for robot::JFKengine:

[legend]Collaboration diagram for robot::JFKengine:

[legend]List of all members.

Public Member Functions
	JFKengine ()
virtual String	className () const
	identifies this class type as a JFKengine
virtual Object &	clone () const
	makes a copy of this JFKengine
virtual Matrix	getForwardKinematics (const KinematicChain &chain, const Vector &q) const
	get the forward kinematics transform for the given chain, with joint parameter values q
virtual Matrix	getJacobian (const KinematicChain &chain, const Vector &q, bool includeOrientation=true) const
	get the Jacobian matrix for the given chain, with joint parameter values q
virtual array< base::Vector >	getJointOrigins (const KinematicChain &chain, const base::Vector &q) const
	computes the forward kinematics to return the joint origin locations
virtual array< base::Vector >	getLinkOrigins (const KinematicChain &chain, const base::Vector &q) const
	computes the forward kinematics to return the link origin locations
base::ExpressionMatrix	getForwardKinematics (const KinematicChain &chain) const
	forms symbolic forward kinematics expression matrix
base::ExpressionMatrix	getJacobian (const KinematicChain &chain, bool includeOrientation=true) const
	forms a symbolic Jacobian expression matrix
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Protected Member Functions
	JFKengine (const JFKengine &jfke)
	copy constructor
Protected Attributes
bool	forwardKinematicsCached
	==true signals that A and T have already been calculated and are cached
array< base::ExpressionMatrix >	A
	array of matrices that give position and orientation with respect to previous frame
array< base::ExpressionMatrix >	T
	array of matrices that give position and orientation with respect to base
KinematicChain	chain_AT
	cached chain used to form A and T
bool	JCached
	==true signals that J has already been calculated and is cached
KinematicChain	chain_J
	cached chain used to form J
base::ExpressionMatrix	J
	contains the cached 6 x n Jacobian
int	_refCount
bool	onUnreferenceEnabled

---

Detailed Description

A KinematicEvaluator that uses symbolic differentiation to compute Jacobian and forward kinematics matrix expressions.

Definition at line 42 of file JFKengine.

---

Constructor & Destructor Documentation

robot::JFKengine::JFKengine (   )

Referenced by clone().

robot::JFKengine::JFKengine (  const JFKengine &  jfke  )  [inline, protected]

copy constructor Definition at line 91 of file JFKengine.

---

Member Function Documentation

virtual String robot::JFKengine::className (   )  const [inline, virtual]

identifies this class type as a JFKengine Implements base::Object. Definition at line 47 of file JFKengine.

virtual Object& robot::JFKengine::clone (   )  const [inline, virtual]

makes a copy of this JFKengine Definition at line 48 of file JFKengine. References JFKengine(), and NewObj.

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

base::ExpressionMatrix robot::JFKengine::getForwardKinematics (  const KinematicChain &  chain  )  const

forms symbolic forward kinematics expression matrix Parameters: chain  a description of a chain of links from which expression matrices are to be formed. Returns: A 4 x 4 ExpressionMatrix containing transformation matrix T for the given SerialManipulator; T represents the position and orientation of the nth link with reference to the base coordinate frame of the manipulator. Exceptions: std::out_of_range  exception, if no joints are specified or n is greater than the number of joints in manipulator

virtual Matrix robot::JFKengine::getForwardKinematics (  const KinematicChain &  chain, const Vector &  q )  const [virtual]

get the forward kinematics transform for the given chain, with joint parameter values q Parameters: chain  a description of a chain of links q  array of Reals; q[0] is the value of the variable for the first dof Returns: a 4x4 homogeneous transform matrix from the first link to the end-effector Implements robot::KinematicEvaluator.

base::ExpressionMatrix robot::JFKengine::getJacobian (  const KinematicChain &  chain, bool  includeOrientation = true )  const

forms a symbolic Jacobian expression matrix Parameters: chain  a description of a chain of joints each specified via D-H parameters for which the Jacobian is to be formed. includeOrientation  if true, J will be a 6 x n ExpressionMatrix with orientation components otherwise it will be a 3 x n ExpressionMatrix including only position components Returns: A [6|3] x n ExpressionMatrix containing the Jacobian for the given SerialManipulator. n is the number of joints in the given chain. Exceptions: std::out_of_range  exception, if no joints are specified Todo: check & document if this is the Geometric Jacobian or Analytical Jacobian (in Jg the orientation components represent ang. vel (omega), in Ja the orientation components represent the time derivative of Euler angles - theta_dot) - I think this implementation is Jg. (omega is better for representing ang. velocity than theta_dot. On the other hand, the intergral of theta_dot, Euler angles themselves (theta) can easily represent orientation, but the intergral of omega has no physical meaning (called quasi-coordinates))

virtual Matrix robot::JFKengine::getJacobian (  const KinematicChain &  chain, const Vector &  q, bool  includeOrientation = true )  const [virtual]

get the Jacobian matrix for the given chain, with joint parameter values q Parameters: chain  a description of a chain of links q  array of Reals; q[0] is the value of the variable for the first dof includeOrientation  include orientation components in the Jacobian if true Returns: a [6|3] x N Jacobian matrix, where N=chain.dof and the number of rows will be 6 unless includeOrientation is false. Implements robot::KinematicEvaluator.

virtual array<base::Vector> robot::JFKengine::getJointOrigins (  const KinematicChain &  chain, const base::Vector &  q )  const [virtual]

computes the forward kinematics to return the joint origin locations Parameters: chain  a description of a chain of links q  array of Reals; q[0] is the value of the variable for the first dof Returns: array of [x,y,z] Vectors that give the location of each joint's origin ( size()==chain.dof() ) Implements robot::KinematicEvaluator.

virtual array<base::Vector> robot::JFKengine::getLinkOrigins (  const KinematicChain &  chain, const base::Vector &  q )  const [virtual]

computes the forward kinematics to return the link origin locations Parameters: chain  a description of a chain of links q  array of Reals; q[0] is the value of the variable for the first dof Returns: array of [x,y,z] Vectors that give the location of each link's origin ( size()==chain.size() ) Implements robot::KinematicEvaluator.

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference().

void base::Referenced::reference (   )  const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

bool base::Referenced::unreference (   )  const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

---

Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

array<base::ExpressionMatrix> robot::JFKengine::A [mutable, protected]

array of matrices that give position and orientation with respect to previous frame Definition at line 94 of file JFKengine.

KinematicChain robot::JFKengine::chain_AT [mutable, protected]

cached chain used to form A and T Definition at line 96 of file JFKengine.

KinematicChain robot::JFKengine::chain_J [mutable, protected]

cached chain used to form J Definition at line 98 of file JFKengine.

bool robot::JFKengine::forwardKinematicsCached [mutable, protected]

==true signals that A and T have already been calculated and are cached Definition at line 93 of file JFKengine.

base::ExpressionMatrix robot::JFKengine::J [mutable, protected]

contains the cached 6 x n Jacobian Definition at line 99 of file JFKengine.

bool robot::JFKengine::JCached [mutable, protected]

==true signals that J has already been calculated and is cached Definition at line 97 of file JFKengine.

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

array<base::ExpressionMatrix> robot::JFKengine::T [mutable, protected]

array of matrices that give position and orientation with respect to base Definition at line 95 of file JFKengine.

---

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

• robot/JFKengine

---