BowlerKernel
Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR Class Referenceabstract
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Public Member Functions

Object getRootListener ()
 
void setRootListener (Object listener)
 
abstract void disconnectDevice ()
 
abstract boolean connectDevice ()
 
ArrayList< String > getNamespacesImp ()
 
void disconnectDeviceImp ()
 
boolean connectDeviceImp ()
 
 AbstractKinematicsNR ()
 
 AbstractKinematicsNR (InputStream configFile, LinkFactory f)
 
 AbstractKinematicsNR (Element doc, LinkFactory f)
 
String getXml ()
 
LinkConfiguration getLinkConfiguration (int linkIndex)
 
ArrayList< LinkConfiguration > getLinkConfigurations ()
 
PIDConfiguration getLinkCurrentConfiguration (int chan)
 
void setLinkCurrentConfiguration (int chan, PIDConfiguration c)
 
AbstractLink getAbstractLink (int index)
 
int getNumberOfLinks ()
 
TransformNR getCurrentTaskSpaceTransform ()
 
double readLinkValue (int index)
 
double readLinkTarget (int index)
 
double[] getCurrentJointSpaceVector ()
 
double[] getCurrentJointSpaceTarget ()
 
double getCurrentLinkEngineeringUnits (int linkIndex)
 
double[] setDesiredTaskSpaceTransform (TransformNR taskSpaceTransform, double seconds) throws Exception
 
boolean checkTaskSpaceTransform (TransformNR taskSpaceTransform, double seconds)
 
boolean checkTaskSpaceTransform (TransformNR taskSpaceTransform)
 
double getBestTime (TransformNR currentTaskSpaceTransform)
 
double getBestTime (double[] jointSpaceVect)
 
double[] setDesiredJointSpaceVector (double[] jointSpaceVect, double seconds) throws Exception
 
TransformNR calcForward (double[] jointSpaceVect)
 
TransformNR calcHome ()
 
void setDesiredJointAxisValue (int axis, double value, double seconds) throws Exception
 
void firePoseUpdate ()
 
TransformNR getFiducialToGlobalTransform ()
 
void setRobotToFiducialTransform (TransformNR baseToFiducial)
 
TransformNR getRobotToFiducialTransform ()
 
void setGlobalToFiducialTransform (TransformNR frameToBase, boolean fireUpdate)
 
void setGlobalToFiducialTransform (TransformNR frameToBase)
 
TransformNR inverseOffset (TransformNR t)
 
TransformNR forwardOffset (TransformNR t)
 
void addJointSpaceListener (IJointSpaceUpdateListenerNR l)
 
void removeJointSpaceUpdateListener (IJointSpaceUpdateListenerNR l)
 
void addRegistrationListener (IRegistrationListenerNR l)
 
void removeRegestrationUpdateListener (IRegistrationListenerNR l)
 
void addPoseUpdateListener (ITaskSpaceUpdateListenerNR l)
 
void removePoseUpdateListener (ITaskSpaceUpdateListenerNR l)
 
void onLinkPositionUpdate (AbstractLink source, double engineeringUnitsValue)
 
void onPIDEvent (PIDEvent e)
 
void onPIDLimitEvent (PIDLimitEvent e)
 
void onPIDReset (int group, float currentValue)
 
void homeAllLinks ()
 
void homeLink (int link)
 
void emergencyStop ()
 
ArrayList< PIDConfiguration > getAxisPidConfiguration ()
 
abstract double[] inverseKinematics (TransformNR taskSpaceTransform) throws Exception
 
abstract TransformNR forwardKinematics (double[] jointSpaceVector)
 
TransformNR getCurrentPoseTarget ()
 
void setCurrentPoseTarget (TransformNR currentPoseTarget)
 
void setFactory (LinkFactory factory)
 
LinkFactory getFactory ()
 
void setNoFlush (boolean noFlush)
 
boolean isNoFlush ()
 
int getRetryNumberBeforeFail ()
 
void setRetryNumberBeforeFail (int retryNumberBeforeFail)
 
void onLinkLimit (AbstractLink arg0, PIDLimitEvent arg1)
 
DHChain getDhParametersChain ()
 
void setDhParametersChain (DHChain dhParametersChain)
 
String[] getGitDhEngine ()
 
void setGitDhEngine (String[] dhEngine)
 
String[] getGitCadEngine ()
 
void setGitCadEngine (String[] cadEngine)
 
IMU getImu ()
 
void boundedLinkValueSet (int index, double value) throws Exception
 
double boundToLinkLimits (int index, double value)
 
double linkMass (int linkIndex)
 
double getMaxEngineeringUnits (int linkIndex)
 
double getMinEngineeringUnits (int linkIndex)
 
void setMaxEngineeringUnits (int linkIndex, double maxLimit)
 
void setMinEngineeringUnits (int linkIndex, double minLimit)
 
String getElectroMechanicalType (int linkIndex)
 
void setElectroMechanicalType (int linkIndex, String electroMechanicalType)
 
String getElectroMechanicalSize (int linkIndex)
 
void setElectroMechanicalSize (int linkIndex, String electroMechanicalSize)
 
String getShaftType (int linkIndex)
 
void setShaftType (int linkIndex, String shaftType)
 
String getShaftSize (int linkIndex)
 
void setDeviceMaximumValue (int linkIndex, double max)
 
void setDeviceMinimumValue (int linkIndex, double min)
 
double getDeviceMaximumValue (int linkIndex)
 
double getDeviceMinimumValue (int linkIndex)
 
void addChangeListener (int linkIndex, ILinkConfigurationChangeListener l)
 
void removeChangeListener (int linkIndex, ILinkConfigurationChangeListener l)
 
void clearChangeListener (int linkIndex)
 
void runRenderWrangler ()
 
void setRenderWrangler (Runnable renderWrangler)
 
TransformNR getDeltaToTarget (TransformNR target)
 
TransformNR getTipAlongTrajectory (TransformNR startingPoint, TransformNR deltaToTarget, double unitIncrement)
 
void asyncInterpolatedMove (TransformNR target, double seconds, InterpolationType type, IOnInterpolationDone listener, double ...conf)
 
InterpolationMoveState blockingInterpolatedMove (TransformNR target, double seconds, InterpolationType type, double ...conf)
 
- Public Member Functions inherited from com.neuronrobotics.sdk.common.NonBowlerDevice
boolean connect ()
 
boolean isAvailable () throws InvalidConnectionException
 
void disconnect ()
 
void onAsyncResponse (BowlerDatagram data)
 
ArrayList< String > getNamespaces ()
 
- Public Member Functions inherited from com.neuronrobotics.sdk.common.BowlerAbstractDevice
void addConnectionEventListener (final IDeviceConnectionEventListener l)
 
void removeConnectionEventListener (IDeviceConnectionEventListener l)
 
void setConnection (BowlerAbstractConnection connection)
 
BowlerAbstractConnection getConnection ()
 
void setAddress (MACAddress address)
 
MACAddress getAddress ()
 
BowlerDatagram send (BowlerAbstractCommand command) throws NoConnectionAvailableException, InvalidResponseException
 
BowlerDatagram send (BowlerAbstractCommand command, int retry) throws NoConnectionAvailableException, InvalidResponseException
 
Object[] send (String namespace, BowlerMethod method, String rpcString, Object[] arguments, int retry) throws DeviceConnectionException
 
Object[] send (String namespace, BowlerMethod method, String rpcString, Object[] arguments) throws DeviceConnectionException
 
boolean ping ()
 
boolean ping (boolean switchParser)
 
ArrayList< ByteList > getRevisions ()
 
boolean hasNamespace (String string)
 
void startHeartBeat ()
 
void startHeartBeat (long msHeartBeatTime)
 
void stopHeartBeat ()
 
void setThreadedUpstreamPackets (boolean up)
 
ArrayList< RpcEncapsulation > getRpcList (String namespace)
 
void loadRpcList ()
 
void onAllResponse (BowlerDatagram data)
 
boolean isKeepAlive ()
 
void setKeepAlive (boolean keepAlive)
 
long getLastPacketTime ()
 
void setLastPacketTime (long lastPacketTime)
 
String getScriptingName ()
 
void setScriptingName (String scriptingName)
 
ArrayList< IDeviceConnectionEventListener > getDisconnectListeners ()
 

Static Public Member Functions

static boolean checkTaskSpaceTransform (AbstractKinematicsNR dev, TransformNR taskSpaceTransform, double seconds)
 
static boolean checkTaskSpaceTransform (AbstractKinematicsNR dev, TransformNR taskSpaceTransform)
 

Protected Member Functions

ArrayList< LinkConfiguration > loadConfig (Element doc)
 
LinkFactory getDevice ()
 
void setDevice (LinkFactory f, ArrayList< LinkConfiguration > linkConfigs)
 
void firePoseTransform (TransformNR transform)
 
void fireTargetJointsUpdate (double[] jointSpaceVector, TransformNR fwd)
 
String getCode (Element e, String tag)
 
String[] getGitCodes (Element doc, String tag)
 
- Protected Member Functions inherited from com.neuronrobotics.sdk.common.BowlerAbstractDevice
void fireDisconnectEvent ()
 
void fireConnectEvent ()
 

Protected Attributes

ArrayList< IJointSpaceUpdateListenerNR > jointSpaceUpdateListeners = new ArrayList<IJointSpaceUpdateListenerNR>()
 

Private Member Functions

String getDate ()
 
double[] _setDesiredJointSpaceVector (double[] jointSpaceVect, double seconds, boolean fireTaskUpdate) throws Exception
 
void fireJointSpaceLimitUpdate (int axis, JointLimit event)
 
void runHome (PIDChannel joint, int tps)
 

Static Private Member Functions

static boolean checkVector (AbstractKinematicsNR dev, double[] jointSpaceVect, double seconds)
 

Private Attributes

ArrayList< PIDConfiguration > pidConfigurations = new ArrayList<PIDConfiguration>()
 
ArrayList< ITaskSpaceUpdateListenerNR > taskSpaceUpdateListeners = new ArrayList<ITaskSpaceUpdateListenerNR>()
 
ArrayList< IRegistrationListenerNR > regListeners = new ArrayList<IRegistrationListenerNR>()
 
ArrayList< MobileBase > mobileBases = new ArrayList<MobileBase>()
 
String[] dhEngine
 
String[] cadEngine
 
TransformNR currentPoseTarget = new TransformNR()
 
TransformNR base2Fiducial = new TransformNR()
 
TransformNR fiducial2RAS = new TransformNR()
 
boolean noFlush = false
 
boolean noXmlConfig = true
 
DHChain dhParametersChain = null
 
Object root
 
LinkFactory factory = null
 
int retryNumberBeforeFail = 5
 
IMU imu = new IMU()
 
Runnable renderWrangler =null
 
long homeTime
 

Detailed Description

The Class AbstractKinematicsNR.

Definition at line 47 of file AbstractKinematicsNR.java.

Constructor & Destructor Documentation

◆ AbstractKinematicsNR() [1/3]

com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.AbstractKinematicsNR ( )

Instantiates a new abstract kinematics nr.

Definition at line 188 of file AbstractKinematicsNR.java.

◆ AbstractKinematicsNR() [2/3]

com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.AbstractKinematicsNR ( InputStream  configFile,
LinkFactory  f 
)

Instantiates a new abstract kinematics nr.

Parameters
configFilethe config file
fthe f

Definition at line 207 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory.getAllNodesDocument(), and com.neuronrobotics.sdk.common.Log.info().

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◆ AbstractKinematicsNR() [3/3]

com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.AbstractKinematicsNR ( Element  doc,
LinkFactory  f 
)

Instantiates a new abstract kinematics nr.

Parameters
docthe doc
fthe f

Definition at line 234 of file AbstractKinematicsNR.java.

Member Function Documentation

◆ _setDesiredJointSpaceVector()

double [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR._setDesiredJointSpaceVector ( double[]  jointSpaceVect,
double  seconds,
boolean  fireTaskUpdate 
) throws Exception
private

This calculates the target pose .

Parameters
jointSpaceVectthe joint space vect
secondsthe time for the transition to take from current position to target, unit seconds
Returns
The joint space vector is returned for target arrival referance
Exceptions
ExceptionIf there is a workspace error

Definition at line 733 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.flush(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.setCachedTargets(), and com.neuronrobotics.sdk.common.TickToc.tic().

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◆ addChangeListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.addChangeListener ( int  linkIndex,
ILinkConfigurationChangeListener  l 
)

Definition at line 1630 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.addListeners().

◆ addJointSpaceListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.addJointSpaceListener ( IJointSpaceUpdateListenerNR  l)

Adds the joint space listener.

Parameters
lthe l

Definition at line 1015 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.addListeners(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain().

◆ addPoseUpdateListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.addPoseUpdateListener ( ITaskSpaceUpdateListenerNR  l)

Adds the pose update listener.

Parameters
lthe l

Definition at line 1058 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain().

◆ addRegistrationListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.addRegistrationListener ( IRegistrationListenerNR  l)

Adds the registration listener.

Parameters
lthe l

Definition at line 1036 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.IRegistrationListenerNR.onBaseToFiducialUpdate().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.connect(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.run().

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◆ asyncInterpolatedMove()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.asyncInterpolatedMove ( TransformNR  target,
double  seconds,
InterpolationType  type,
IOnInterpolationDone  listener,
double ...  conf 
)

Definition at line 1665 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.IOnInterpolationDone.done(), and com.neuronrobotics.sdk.addons.kinematics.InterpolationMoveState.FAULT.

Referenced by com.neuronrobotics.bowlerstudio.sequence.SequenceEvent.execute().

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◆ blockingInterpolatedMove()

InterpolationMoveState com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.blockingInterpolatedMove ( TransformNR  target,
double  seconds,
InterpolationType  type,
double ...  conf 
)

Definition at line 1678 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.InterpolationMoveState.FAULT, com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), com.neuronrobotics.sdk.addons.kinematics.InterpolationMoveState.READY, com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime(), and com.neuronrobotics.sdk.util.ThreadUtil.wait().

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◆ boundedLinkValueSet()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.boundedLinkValueSet ( int  index,
double  value 
) throws Exception

Definition at line 1517 of file AbstractKinematicsNR.java.

◆ boundToLinkLimits()

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.boundToLinkLimits ( int  index,
double  value 
)

Definition at line 1524 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getMaxEngineeringUnits(), and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getMinEngineeringUnits().

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◆ calcForward()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.calcForward ( double[]  jointSpaceVect)

Calc forward.

Parameters
jointSpaceVectthe joint space vect
Returns
the transform nr

Definition at line 783 of file AbstractKinematicsNR.java.

◆ calcHome()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.calcHome ( )

Calc home.

Returns
the transform nr

Reimplemented in com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.

Definition at line 792 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.calcHome(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.calcHome(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.getTipLocations().

◆ checkTaskSpaceTransform() [1/4]

static boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkTaskSpaceTransform ( AbstractKinematicsNR  dev,
TransformNR  taskSpaceTransform 
)
static

Checks the desired pose for ability for the IK to calculate a valid pose.

Parameters
taskSpaceTransformthe task space transform
Returns
True if pose is reachable, false if it is not

Definition at line 621 of file AbstractKinematicsNR.java.

◆ checkTaskSpaceTransform() [2/4]

static boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkTaskSpaceTransform ( AbstractKinematicsNR  dev,
TransformNR  taskSpaceTransform,
double  seconds 
)
static

Checks the desired pose for ability for the IK to calculate a valid pose.

Parameters
taskSpaceTransformthe task space transform
Returns
True if pose is reachable, false if it is not

Definition at line 605 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.inverseKinematics(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.inverseOffset().

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkTaskSpaceTransform(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setCurrentPoseTarget().

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◆ checkTaskSpaceTransform() [3/4]

boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkTaskSpaceTransform ( TransformNR  taskSpaceTransform)

Checks the desired pose for ability for the IK to calculate a valid pose.

Parameters
taskSpaceTransformthe task space transform
Returns
True if pose is reachable, false if it is not

Definition at line 670 of file AbstractKinematicsNR.java.

◆ checkTaskSpaceTransform() [4/4]

boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkTaskSpaceTransform ( TransformNR  taskSpaceTransform,
double  seconds 
)

Checks the desired pose for ability for the IK to calculate a valid pose.

Parameters
taskSpaceTransformthe task space transform
Returns
True if pose is reachable, false if it is not

Definition at line 661 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkTaskSpaceTransform().

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◆ checkVector()

static boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkVector ( AbstractKinematicsNR  dev,
double[]  jointSpaceVect,
double  seconds 
)
staticprivate

Definition at line 624 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.common.Log.error(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.factory, com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceTarget(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getMaxEngineeringUnits(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getMaxVelocityEngineeringUnits(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getMinEngineeringUnits(), and com.neuronrobotics.sdk.common.BowlerAbstractDevice.getScriptingName().

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◆ clearChangeListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.clearChangeListener ( int  linkIndex)

Definition at line 1636 of file AbstractKinematicsNR.java.

◆ connectDevice()

abstract boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.connectDevice ( )
abstract

Connect device.

Returns
true, if successful

Reimplemented in com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup, com.neuronrobotics.sdk.addons.kinematics.MobileBase, com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR, and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.

◆ connectDeviceImp()

boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.connectDeviceImp ( )

Connect device imp.

Returns
true, if successful

Reimplemented from com.neuronrobotics.sdk.common.NonBowlerDevice.

Definition at line 181 of file AbstractKinematicsNR.java.

◆ disconnectDevice()

abstract void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.disconnectDevice ( )
abstract

This method tells the connection object to disconnect its pipes and close out the connection. Once this is called, it is safe to remove your device.

Reimplemented in com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup, com.neuronrobotics.sdk.addons.kinematics.MobileBase, com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR, and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.

◆ disconnectDeviceImp()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.disconnectDeviceImp ( )

This method tells the connection object to disconnect its pipes and close out the connection. Once this is called, it is safe to remove your device.

Reimplemented from com.neuronrobotics.sdk.common.NonBowlerDevice.

Definition at line 167 of file AbstractKinematicsNR.java.

◆ emergencyStop()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.emergencyStop ( )

This is a quick stop for all axis of the robot.

Definition at line 1258 of file AbstractKinematicsNR.java.

◆ fireJointSpaceLimitUpdate()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.fireJointSpaceLimitUpdate ( int  axis,
JointLimit  event 
)
private

Fire joint space limit update.

Parameters
axisthe axis
eventthe event

Definition at line 890 of file AbstractKinematicsNR.java.

◆ firePoseTransform()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.firePoseTransform ( TransformNR  transform)
protected

Fire pose transform.

Parameters
transformthe transform

Definition at line 848 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.ITaskSpaceUpdateListenerNR.onTaskSpaceUpdate().

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◆ firePoseUpdate()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.firePoseUpdate ( )

Fire pose update.

Definition at line 858 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR.onJointSpaceUpdate().

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◆ fireTargetJointsUpdate()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.fireTargetJointsUpdate ( double[]  jointSpaceVector,
TransformNR  fwd 
)
protected

Fire target joints update.

Parameters
jointSpaceVectorthe joint space vector
fwdthe fwd

Definition at line 876 of file AbstractKinematicsNR.java.

◆ forwardKinematics()

abstract TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.forwardKinematics ( double[]  jointSpaceVector)
abstract

Forward kinematics.

Parameters
jointSpaceVectorthe joint space vector
Returns
6x1 vector in task space, unit in mm,radians [x,y,z,rotx,rotY,rotZ]

Reimplemented in com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup, com.neuronrobotics.sdk.addons.kinematics.MobileBase, com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR, and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.

◆ forwardOffset()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.forwardOffset ( TransformNR  t)

Forward offset.

Parameters
tthe t
Returns
the transform nr

Definition at line 1002 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getMatrixTransform().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.fireBaseUpdates(), com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardOffset(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateBase().

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◆ getAbstractLink()

AbstractLink com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getAbstractLink ( int  index)

Gets the abstract link.

Parameters
indexthe index
Returns
the abstract link

Definition at line 444 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.throwExceptionOnJointLimit(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateLimb().

◆ getAxisPidConfiguration()

ArrayList<PIDConfiguration> com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getAxisPidConfiguration ( )

Gets the axis pid configuration.

Returns
the axis pid configuration

Definition at line 1273 of file AbstractKinematicsNR.java.

◆ getBestTime() [1/2]

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getBestTime ( double[]  jointSpaceVect)

get the best possible time for a translation by checking the joint velocities

Parameters
jointSpaceVectnew joint pose
Returns
the time of translation at best possible speed based on checking each link

Definition at line 697 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getMaxVelocityEngineeringUnits().

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◆ getBestTime() [2/2]

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getBestTime ( TransformNR  currentTaskSpaceTransform)

get the best possible time for a translation by checking the joint velocities

Parameters
currentTaskSpaceTransformnew tip location to check
Returns
the time of translation at best possible speed based on checking each link

Definition at line 680 of file AbstractKinematicsNR.java.

◆ getCode()

String com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCode ( Element  e,
String  tag 
)
protected

Gets the code.

Parameters
ethe e
tagthe tag
Returns
the code

Definition at line 1452 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory.getTagValue().

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◆ getCurrentJointSpaceTarget()

double [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceTarget ( )

Definition at line 553 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkVector().

◆ getCurrentJointSpaceVector()

double [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceVector ( )

This takes a reading of the robots position and converts it to a joint pace vector This vector is converted to Joint space and returned .

Returns
JointSpaceVector in mm,radians

Definition at line 537 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChainTransformations(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.inverseKinematics(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.linkCoM(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setGlobalToFiducialTransform(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.updateCadLocations().

◆ getCurrentLinkEngineeringUnits()

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentLinkEngineeringUnits ( int  linkIndex)

Definition at line 561 of file AbstractKinematicsNR.java.

◆ getCurrentPoseTarget()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentPoseTarget ( )

Gets the current pose target.

Returns
the current pose target

Definition at line 1299 of file AbstractKinematicsNR.java.

◆ getCurrentTaskSpaceTransform()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentTaskSpaceTransform ( )

This takes a reading of the robots position and converts it to a joint space vector This vector is converted to task space and returned .

Returns
taskSpaceVector in mm,radians [x,y,z,rotx,rotY,rotZ]

Definition at line 516 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.main().

◆ getDate()

String com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getDate ( )
private

Gets the date.

Returns
the date

Definition at line 248 of file AbstractKinematicsNR.java.

◆ getDeltaToTarget()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getDeltaToTarget ( TransformNR  target)

Definition at line 1656 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.inverse(), and com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.times().

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◆ getDevice()

LinkFactory com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getDevice ( )
protected

Gets the device.

Returns
the device

Definition at line 434 of file AbstractKinematicsNR.java.

◆ getDeviceMaximumValue()

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getDeviceMaximumValue ( int  linkIndex)

Override this method to specify a larger range

Returns
the maximum value possible for a link

Definition at line 1620 of file AbstractKinematicsNR.java.

◆ getDeviceMinimumValue()

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getDeviceMinimumValue ( int  linkIndex)

Override this method to specify a larger range

Returns
the minimum value possible for a link

Definition at line 1627 of file AbstractKinematicsNR.java.

◆ getDhParametersChain()

DHChain com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getDhParametersChain ( )

Gets the dh parameters chain.

Returns
the dh parameters chain

Definition at line 1394 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics().

◆ getElectroMechanicalSize()

String com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getElectroMechanicalSize ( int  linkIndex)

Definition at line 1584 of file AbstractKinematicsNR.java.

◆ getElectroMechanicalType()

String com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getElectroMechanicalType ( int  linkIndex)

Definition at line 1576 of file AbstractKinematicsNR.java.

◆ getFactory()

LinkFactory com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFactory ( )

Gets the factory.

Returns
the factory

Definition at line 1331 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.addListeners(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.generateCad(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.removeLimb(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.removeLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

◆ getFiducialToGlobalTransform()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFiducialToGlobalTransform ( )

Gets the fiducial to global transform.

Returns
the fiducial to global transform

Definition at line 901 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.WalkingDriveEngine.DriveArc(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.run(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateBase(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateLimb().

◆ getGitCadEngine()

String [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getGitCadEngine ( )

Gets the cad engine.

Returns
the cad engine

Definition at line 1431 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.getCadScriptFromLimnb(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.getCadScriptFromMobileBase(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.getIgenerateBed().

◆ getGitCodes()

String [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getGitCodes ( Element  doc,
String  tag 
)
protected

Gets the gist codes.

Parameters
docthe doc
tagthe tag
Returns
the gist codes

Definition at line 1475 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs().

◆ getGitDhEngine()

String [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getGitDhEngine ( )

Gets the dh engine.

Returns
the dh engine

Definition at line 1412 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseLoader.setDefaultDhParameterKinematics().

◆ getImu()

IMU com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getImu ( )

Definition at line 1511 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

◆ getLinkConfiguration()

LinkConfiguration com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkConfiguration ( int  linkIndex)

Gets the link configuration.

Parameters
linkIndexthe link index
Returns
the link configuration

Definition at line 394 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkVector(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.generateCad(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.linkCoM(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain().

◆ getLinkConfigurations()

ArrayList<LinkConfiguration> com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkConfigurations ( )

Gets the link configurations.

Returns
the link configurations

Definition at line 403 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics().

◆ getLinkCurrentConfiguration()

PIDConfiguration com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkCurrentConfiguration ( int  chan)

Gets the link current configuration.

Parameters
chanthe chan
Returns
the link current configuration

Definition at line 415 of file AbstractKinematicsNR.java.

◆ getMaxEngineeringUnits()

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getMaxEngineeringUnits ( int  linkIndex)

Gets the max engineering units.

Returns
the max engineering units

Definition at line 1544 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.WristNormalizer.score().

◆ getMinEngineeringUnits()

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getMinEngineeringUnits ( int  linkIndex)

Gets the min engineering units.

Returns
the min engineering units

Definition at line 1553 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.WristNormalizer.score().

◆ getNamespacesImp()

ArrayList<String> com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getNamespacesImp ( )

Gets the namespaces imp.

Returns
the namespaces imp

Reimplemented from com.neuronrobotics.sdk.common.NonBowlerDevice.

Definition at line 155 of file AbstractKinematicsNR.java.

◆ getNumberOfLinks()

int com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getNumberOfLinks ( )

Gets the number of links defined in the configuration file.

Returns
number of links in XML

Definition at line 506 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.addListeners(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.generateCad(), com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR.inverseKinematics(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.inverseKinematics(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.set(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.throwExceptionOnJointLimit().

◆ getRetryNumberBeforeFail()

int com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getRetryNumberBeforeFail ( )

Gets the retry number before fail.

Returns
the retry number before fail

Definition at line 1360 of file AbstractKinematicsNR.java.

◆ getRobotToFiducialTransform()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getRobotToFiducialTransform ( )

Gets the robot to fiducial transform.

Returns
the robot to fiducial transform

Definition at line 943 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), and com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

◆ getRootListener()

Object com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getRootListener ( )

Gets the root listener.

Returns
the root listener

Definition at line 122 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.selectCsgByLimb(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateBase().

◆ getShaftSize()

String com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getShaftSize ( int  linkIndex)

Definition at line 1600 of file AbstractKinematicsNR.java.

◆ getShaftType()

String com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getShaftType ( int  linkIndex)

Definition at line 1592 of file AbstractKinematicsNR.java.

◆ getTipAlongTrajectory()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getTipAlongTrajectory ( TransformNR  startingPoint,
TransformNR  deltaToTarget,
double  unitIncrement 
)

Definition at line 1662 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.scale(), and com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.times().

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◆ getXml()

String com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getXml ( )

Gets the xml.

Returns
the xml

Reimplemented in com.neuronrobotics.sdk.addons.kinematics.MobileBase, and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.

Definition at line 367 of file AbstractKinematicsNR.java.

◆ homeAllLinks()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.homeAllLinks ( )

This method uses the latch values to home all of the robot links.

Definition at line 1150 of file AbstractKinematicsNR.java.

◆ homeLink()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.homeLink ( int  link)

Home link.

Parameters
linkthe link

Definition at line 1206 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.pid.PIDChannel.ConfigurePIDController(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getHardwareIndex(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getIndexLatch(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getLowerLimit(), com.neuronrobotics.sdk.pid.PIDChannel.getPid(), com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPIDChannel(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getUpperLimit(), com.neuronrobotics.sdk.common.Log.info(), com.neuronrobotics.sdk.addons.kinematics.LinkType.PID, com.neuronrobotics.sdk.pid.PIDConfiguration.setIndexLatch(), com.neuronrobotics.sdk.pid.PIDConfiguration.setStopOnIndex(), and com.neuronrobotics.sdk.pid.PIDConfiguration.setUseLatch().

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◆ inverseKinematics()

abstract double [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.inverseKinematics ( TransformNR  taskSpaceTransform) throws Exception
abstract

Inverse kinematics.

Parameters
taskSpaceTransformthe task space transform
Returns
Nx1 vector in task space, in mm where N is number of links
Exceptions
Exceptionthe exception

Reimplemented in com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup, com.neuronrobotics.sdk.addons.kinematics.MobileBase, com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics, and com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkTaskSpaceTransform().

◆ inverseOffset()

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.inverseOffset ( TransformNR  t)

Inverse offset.

Parameters
tthe t
Returns
the transform nr

Definition at line 983 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getMatrixTransform().

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkTaskSpaceTransform(), and com.neuronrobotics.sdk.addons.kinematics.ik.DeltaIKModel.inverseKinematics6dof().

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◆ isNoFlush()

boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.isNoFlush ( )

Checks if is no flush.

Returns
true, if is no flush

Definition at line 1351 of file AbstractKinematicsNR.java.

◆ linkMass()

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.linkMass ( int  linkIndex)

Definition at line 1535 of file AbstractKinematicsNR.java.

◆ loadConfig()

ArrayList<LinkConfiguration> com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.loadConfig ( Element  doc)
protected

Load XML configuration file, then store in LinkConfiguration (ArrayList type).

Parameters
docthe doc
Returns
the array list

Definition at line 260 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getSlaveLinks(), com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory.getTagValue(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.setMobileBaseXml().

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◆ onLinkLimit()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.onLinkLimit ( AbstractLink  source,
PIDLimitEvent  event 
)

On the event of a limit, this is called.

Parameters
sourcethe source
eventthe event

Implements com.neuronrobotics.sdk.addons.kinematics.ILinkListener.

Definition at line 1381 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getHardwareIndex(), and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getLinkConfiguration().

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◆ onLinkPositionUpdate()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.onLinkPositionUpdate ( AbstractLink  source,
double  engineeringUnitsValue 
)

On link position update.

Parameters
sourcethe source
engineeringUnitsValuethe engineering units value

Implements com.neuronrobotics.sdk.addons.kinematics.ILinkListener.

Definition at line 1086 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.common.Log.error().

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◆ onPIDEvent()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.onPIDEvent ( PIDEvent  e)

On pid event.

Parameters
ethe e

Implements com.neuronrobotics.sdk.pid.IPIDEventListener.

Definition at line 1119 of file AbstractKinematicsNR.java.

◆ onPIDLimitEvent()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.onPIDLimitEvent ( PIDLimitEvent  e)

On pid limit event.

Parameters
ethe e

Implements com.neuronrobotics.sdk.pid.IPIDEventListener.

Definition at line 1130 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.pid.PIDLimitEvent.getGroup().

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◆ onPIDReset()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.onPIDReset ( int  group,
float  currentValue 
)

On pid reset.

Parameters
groupthe group
currentValuethe current value

Implements com.neuronrobotics.sdk.pid.IPIDEventListener.

Definition at line 1143 of file AbstractKinematicsNR.java.

◆ readLinkTarget()

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.readLinkTarget ( int  index)

Definition at line 528 of file AbstractKinematicsNR.java.

◆ readLinkValue()

double com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.readLinkValue ( int  index)

Definition at line 525 of file AbstractKinematicsNR.java.

◆ removeChangeListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.removeChangeListener ( int  linkIndex,
ILinkConfigurationChangeListener  l 
)

Definition at line 1633 of file AbstractKinematicsNR.java.

◆ removeJointSpaceUpdateListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.removeJointSpaceUpdateListener ( IJointSpaceUpdateListenerNR  l)

Removes the joint space update listener.

Parameters
lthe l

Definition at line 1026 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.disconnectDevice().

◆ removePoseUpdateListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.removePoseUpdateListener ( ITaskSpaceUpdateListenerNR  l)

Removes the pose update listener.

Parameters
lthe l

Definition at line 1071 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.disconnectDevice().

◆ removeRegestrationUpdateListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.removeRegestrationUpdateListener ( IRegistrationListenerNR  l)

Removes the regestration update listener.

Parameters
lthe l

Definition at line 1048 of file AbstractKinematicsNR.java.

◆ runHome()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.runHome ( PIDChannel  joint,
int  tps 
)
private

Run home.

Parameters
jointthe joint
tpsthe tps

Definition at line 1172 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.pid.PIDChannel.addPIDEventListener(), com.neuronrobotics.sdk.common.Log.debug(), com.neuronrobotics.sdk.common.Log.info(), com.neuronrobotics.sdk.pid.PIDChannel.removePIDEventListener(), com.neuronrobotics.sdk.pid.PIDChannel.SetPIDSetPoint(), and com.neuronrobotics.sdk.util.ThreadUtil.wait().

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◆ runRenderWrangler()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.runRenderWrangler ( )

Definition at line 1642 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.refreshPose(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setGlobalToFiducialTransform(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.updatePositions().

◆ setCurrentPoseTarget()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setCurrentPoseTarget ( TransformNR  currentPoseTarget)

Sets the current pose target.

Parameters
currentPoseTargetthe new current pose target

Reimplemented in com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.

Definition at line 1310 of file AbstractKinematicsNR.java.

◆ setDesiredJointAxisValue()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDesiredJointAxisValue ( int  axis,
double  value,
double  seconds 
) throws Exception

Sets an individual target joint position .

Parameters
axisthe joint index to set
valuethe value to set it to
secondsthe time for the transition to take from current position to target, unit seconds
Exceptions
ExceptionIf there is a workspace error

Definition at line 809 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getLowerLimit(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getUpperLimit(), and com.neuronrobotics.sdk.common.Log.info().

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◆ setDesiredJointSpaceVector()

double [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDesiredJointSpaceVector ( double[]  jointSpaceVect,
double  seconds 
) throws Exception

This calculates the target pose .

Parameters
jointSpaceVectthe joint space vect
secondsthe time for the transition to take from current position to target, unit seconds
Returns
The joint space vector is returned for target arrival referance
Exceptions
ExceptionIf there is a workspace error

Definition at line 721 of file AbstractKinematicsNR.java.

◆ setDesiredTaskSpaceTransform()

double [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDesiredTaskSpaceTransform ( TransformNR  taskSpaceTransform,
double  seconds 
) throws Exception

This calculates the target pose .

Parameters
taskSpaceTransformthe task space transform
secondsthe time for the transition to take from current position to target, unit seconds
Returns
The joint space vector is returned for target arrival referance
Exceptions
ExceptionIf there is a workspace error

Definition at line 574 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.common.Log.info(), and com.neuronrobotics.sdk.common.TickToc.tic().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.initializeParalellGroups(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.main().

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◆ setDevice()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice ( LinkFactory  f,
ArrayList< LinkConfiguration >  linkConfigs 
)
protected

Sets the device.

Parameters
fthe f
linkConfigsthe link configs

Definition at line 454 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.addPIDEventListener(), com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.ConfigurePIDController(), com.neuronrobotics.sdk.common.Log.error(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getHardwareIndex(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getIndexLatch(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getKD(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getKI(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getKP(), com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPIDConfiguration(), com.neuronrobotics.sdk.common.Log.info(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isInverted(), com.neuronrobotics.sdk.addons.kinematics.LinkType.PID, com.neuronrobotics.sdk.pid.PIDConfiguration.setAsync(), com.neuronrobotics.sdk.pid.PIDConfiguration.setEnabled(), com.neuronrobotics.sdk.pid.PIDConfiguration.setGroup(), com.neuronrobotics.sdk.pid.PIDConfiguration.setIndexLatch(), com.neuronrobotics.sdk.pid.PIDConfiguration.setInverted(), com.neuronrobotics.sdk.pid.PIDConfiguration.setKD(), com.neuronrobotics.sdk.pid.PIDConfiguration.setKI(), com.neuronrobotics.sdk.pid.PIDConfiguration.setKP(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLinkIndex(), com.neuronrobotics.sdk.pid.PIDConfiguration.setStopOnIndex(), and com.neuronrobotics.sdk.pid.PIDConfiguration.setUseLatch().

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◆ setDeviceMaximumValue()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDeviceMaximumValue ( int  linkIndex,
double  max 
)

Override this method to specify a larger range

Definition at line 1606 of file AbstractKinematicsNR.java.

◆ setDeviceMinimumValue()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDeviceMinimumValue ( int  linkIndex,
double  min 
)

Override this method to specify a larger range

Definition at line 1613 of file AbstractKinematicsNR.java.

◆ setDhParametersChain()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDhParametersChain ( DHChain  dhParametersChain)

Sets the dh parameters chain.

Parameters
dhParametersChainthe new dh parameters chain

Definition at line 1403 of file AbstractKinematicsNR.java.

◆ setElectroMechanicalSize()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setElectroMechanicalSize ( int  linkIndex,
String  electroMechanicalSize 
)

Definition at line 1588 of file AbstractKinematicsNR.java.

◆ setElectroMechanicalType()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setElectroMechanicalType ( int  linkIndex,
String  electroMechanicalType 
)

Definition at line 1580 of file AbstractKinematicsNR.java.

◆ setFactory()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setFactory ( LinkFactory  factory)

Sets the factory.

Parameters
factorythe new factory

Definition at line 1322 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.removeLimb().

◆ setGitCadEngine()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setGitCadEngine ( String[]  cadEngine)

Sets the cad engine.

Parameters
cadEnginethe new cad engine

Definition at line 1440 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.bowlerstudio.scripting.RobotHelper.getDefaultContents(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs().

◆ setGitDhEngine()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setGitDhEngine ( String[]  dhEngine)

Sets the dh engine.

Parameters
dhEnginethe new dh engine

Definition at line 1421 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.bowlerstudio.scripting.RobotHelper.getDefaultContents(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseLoader.setGitDhEngine().

◆ setGlobalToFiducialTransform() [1/2]

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setGlobalToFiducialTransform ( TransformNR  frameToBase)

Sets the global to fiducial transform.

Parameters
frameToBasethe new global to fiducial transform

Reimplemented in com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.

Definition at line 974 of file AbstractKinematicsNR.java.

◆ setGlobalToFiducialTransform() [2/2]

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setGlobalToFiducialTransform ( TransformNR  frameToBase,
boolean  fireUpdate 
)

Sets the global to fiducial transform.

Parameters
frameToBasethe new global to fiducial transform

Definition at line 952 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.common.Log.error(), and com.neuronrobotics.sdk.addons.kinematics.IRegistrationListenerNR.onFiducialToGlobalUpdate().

Referenced by com.neuronrobotics.sdk.addons.kinematics.WalkingDriveEngine.DriveArc(), com.neuronrobotics.sdk.addons.kinematics.DHLink.fireOnLinkGlobalPositionChange(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.setFiducialToGlobalTransform(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateBase().

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◆ setLinkCurrentConfiguration()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setLinkCurrentConfiguration ( int  chan,
PIDConfiguration  c 
)

Sets the link current configuration.

Parameters
chanthe chan
cthe c

Definition at line 425 of file AbstractKinematicsNR.java.

◆ setMaxEngineeringUnits()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setMaxEngineeringUnits ( int  linkIndex,
double  maxLimit 
)

Sets the max engineering units.

Parameters
maxLimitthe max engineering units

Definition at line 1563 of file AbstractKinematicsNR.java.

◆ setMinEngineeringUnits()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setMinEngineeringUnits ( int  linkIndex,
double  minLimit 
)

Sets the min engineering units.

Parameters
minLimitthe min engineering units

Definition at line 1572 of file AbstractKinematicsNR.java.

◆ setNoFlush()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setNoFlush ( boolean  noFlush)

Sets the no flush.

Parameters
noFlushthe new no flush

Definition at line 1342 of file AbstractKinematicsNR.java.

◆ setRenderWrangler()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setRenderWrangler ( Runnable  renderWrangler)

Definition at line 1652 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.setMobileBase().

◆ setRetryNumberBeforeFail()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setRetryNumberBeforeFail ( int  retryNumberBeforeFail)

Sets the retry number before fail.

Parameters
retryNumberBeforeFailthe new retry number before fail

Definition at line 1369 of file AbstractKinematicsNR.java.

◆ setRobotToFiducialTransform()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setRobotToFiducialTransform ( TransformNR  baseToFiducial)

Reimplemented in com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.

Definition at line 914 of file AbstractKinematicsNR.java.

References com.neuronrobotics.sdk.common.Log.error(), and com.neuronrobotics.sdk.common.Log.info().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs().

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◆ setRootListener()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setRootListener ( Object  listener)

Sets the root listener.

Parameters
listenerthe new root listener

Definition at line 131 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateBase().

◆ setShaftType()

void com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setShaftType ( int  linkIndex,
String  shaftType 
)

Definition at line 1596 of file AbstractKinematicsNR.java.

Member Data Documentation

◆ base2Fiducial

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.base2Fiducial = new TransformNR()
private

The base2 fiducial.

Definition at line 85 of file AbstractKinematicsNR.java.

◆ cadEngine

String [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.cadEngine
private
Initial value:
= new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git",
"ThreeDPrintCad.groovy" }

The cad engine.

Definition at line 71 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setGitCadToolEngine().

◆ currentPoseTarget

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.currentPoseTarget = new TransformNR()
private

The current joint space positions. The current joint space target. The current pose target.

Definition at line 82 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setCurrentPoseTarget().

◆ dhEngine

String [] com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.dhEngine
private
Initial value:
= new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git",
"DefaultDhSolver.groovy" }

The dh engine.

Definition at line 67 of file AbstractKinematicsNR.java.

◆ dhParametersChain

DHChain com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.dhParametersChain = null
private

The dh parameters chain.

Definition at line 97 of file AbstractKinematicsNR.java.

◆ factory

LinkFactory com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.factory = null
private

The factory.

Definition at line 105 of file AbstractKinematicsNR.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkVector(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.removeLink().

◆ fiducial2RAS

TransformNR com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.fiducial2RAS = new TransformNR()
private

The fiducial2 ras.

Definition at line 88 of file AbstractKinematicsNR.java.

◆ homeTime

long com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.homeTime
private

This method uses the latch values to home the given link of the robot links.

Definition at line 1164 of file AbstractKinematicsNR.java.

◆ imu

IMU com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.imu = new IMU()
private

The object for communicating IMU information and registering it with the hardware

Definition at line 113 of file AbstractKinematicsNR.java.

◆ jointSpaceUpdateListeners

ArrayList<IJointSpaceUpdateListenerNR> com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.jointSpaceUpdateListeners = new ArrayList<IJointSpaceUpdateListenerNR>()
protected

The joint space update listeners.

Definition at line 58 of file AbstractKinematicsNR.java.

◆ mobileBases

ArrayList<MobileBase> com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.mobileBases = new ArrayList<MobileBase>()
private

The mobile bases.

Definition at line 64 of file AbstractKinematicsNR.java.

◆ noFlush

boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.noFlush = false
private

The no flush.

Definition at line 91 of file AbstractKinematicsNR.java.

◆ noXmlConfig

boolean com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.noXmlConfig = true
private

The no xml config.

Definition at line 94 of file AbstractKinematicsNR.java.

◆ pidConfigurations

ArrayList<PIDConfiguration> com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.pidConfigurations = new ArrayList<PIDConfiguration>()
private

The configurations.

Definition at line 52 of file AbstractKinematicsNR.java.

◆ regListeners

ArrayList<IRegistrationListenerNR> com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.regListeners = new ArrayList<IRegistrationListenerNR>()
private

The reg listeners.

Definition at line 61 of file AbstractKinematicsNR.java.

◆ renderWrangler

Runnable com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.renderWrangler =null
private

Definition at line 115 of file AbstractKinematicsNR.java.

◆ retryNumberBeforeFail

int com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.retryNumberBeforeFail = 5
private

The retry number before fail.

Definition at line 108 of file AbstractKinematicsNR.java.

◆ root

Object com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.root
private

The root.

Definition at line 100 of file AbstractKinematicsNR.java.

◆ taskSpaceUpdateListeners

ArrayList<ITaskSpaceUpdateListenerNR> com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.taskSpaceUpdateListeners = new ArrayList<ITaskSpaceUpdateListenerNR>()
private

The task space update listeners.

Definition at line 55 of file AbstractKinematicsNR.java.

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