com.neuronrobotics.sdk.addons.kinematics.DHChain Class Reference

Collaboration diagram for com.neuronrobotics.sdk.addons.kinematics.DHChain:

Public Member Functions
	DHChain (AbstractKinematicsNR kin)
void	addLink (DHLink link)
void	removeLink (DHLink link)
double[]	inverseKinematics (TransformNR target, double[] jointSpaceVector) throws Exception
TransformNR	forwardKinematics (double[] jointSpaceVector)
TransformNR	forwardKinematics (double[] jointSpaceVector, boolean store)
Matrix	forwardKinematicsMatrix (double[] jointSpaceVector, boolean store)
Matrix	forwardKinematicsMatrix (double[] jointSpaceVector, ArrayList< TransformNR > chainToLoad)
void	setChain (ArrayList< TransformNR > chain)
ArrayList< TransformNR >	getChain (double[] jointSpaceVector)
ArrayList< TransformNR >	getCachedChain ()
double[]	getUpperLimits ()
double[]	getlowerLimits ()
void	setLinks (ArrayList< DHLink > links)
ArrayList< DHLink >	getLinks ()
String	toString ()
DhInverseSolver	getInverseSolver ()
void	setInverseSolver (DhInverseSolver is)
LinkFactory	getFactory ()
void	setFactory (LinkFactory factory)

Public Attributes
AbstractKinematicsNR	kin

Private Member Functions
double[]	crossProduct (double[] a, double[] b)
TransformNR	forwardOffset (TransformNR transformNR)

Private Attributes
ArrayList< DHLink >	links = new ArrayList<DHLink>()
ArrayList< TransformNR >	chain = new ArrayList<TransformNR>()
ArrayList< TransformNR >	intChain = new ArrayList<TransformNR>()
double[]	upperLimits
double[]	lowerLimits
boolean	debug =false
DhInverseSolver	is
LinkFactory	factory

Detailed Description

The Class DHChain.

Definition at line 22 of file DHChain.java.

Constructor & Destructor Documentation

DHChain()

com.neuronrobotics.sdk.addons.kinematics.DHChain.DHChain

(

AbstractKinematicsNR

kin

)

Instantiates a new DH chain.

Parameters

kin

the kin

Definition at line 57 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.kin.

Member Function Documentation

addLink()

void com.neuronrobotics.sdk.addons.kinematics.DHChain.addLink

(

DHLink

link

)

Adds the link.

Parameters

link

the link

Definition at line 67 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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

Here is the call graph for this function:

crossProduct()

double [] com.neuronrobotics.sdk.addons.kinematics.DHChain.crossProduct ( double[]  a, double[]  b  )

private

Cross product.

Parameters

a	the a
b	the b

Returns

the double[]

Definition at line 164 of file DHChain.java.

forwardKinematics() [1/2]

TransformNR com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematics

(

double[]

jointSpaceVector

)

Forward kinematics.

Parameters

jointSpaceVector

the joint space vector

Returns

the transform nr

Definition at line 140 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.fk(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.forwardKinematics(), com.neuronrobotics.sdk.addons.kinematics.ComputedGeometricModel.inverseKinematics(), com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.inverseKinematics(), com.neuronrobotics.sdk.addons.kinematics.GradiantDecentNode.stepLin(), and com.neuronrobotics.sdk.addons.kinematics.GradiantDecentNode.stepOrent().

forwardKinematics() [2/2]

TransformNR com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematics	(	double[]	jointSpaceVector,
		boolean	store
	)

Forward kinematics.

Parameters

jointSpaceVector	the joint space vector
store	the store

Returns

the transform nr

Definition at line 151 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix().

Here is the call graph for this function:

forwardKinematicsMatrix() [1/2]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix	(	double[]	jointSpaceVector,
		ArrayList< TransformNR >	chainToLoad
	)

Definition at line 184 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardOffset(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getFactory(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkConfigurations(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getMatrixTransform(), com.neuronrobotics.sdk.addons.kinematics.DHChain.intChain, and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPrismatic().

Here is the call graph for this function:

forwardKinematicsMatrix() [2/2]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix	(	double[]	jointSpaceVector,
		boolean	store
	)

Forward kinematics matrix.

Parameters

jointSpaceVector	the joint space vector
store	the store

Returns

the matrix

Definition at line 181 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.getCachedChain().

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematics(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getChain(), and com.neuronrobotics.sdk.addons.kinematics.ik.DeltaIKModel.inverseKinematics6dof().

Here is the call graph for this function:

forwardOffset()

TransformNR com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardOffset ( TransformNR  transformNR )

private

Forward offset.

Parameters

transformNR

the transform nr

Returns

the transform nr

Definition at line 239 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.forwardOffset(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.kin.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix().

Here is the call graph for this function:

getCachedChain()

ArrayList<TransformNR> com.neuronrobotics.sdk.addons.kinematics.DHChain.getCachedChain

(

)

Gets the cached chain.

Returns

the cached chain

Definition at line 273 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.chain.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getLinkTip(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.setChain().

getChain()

ArrayList<TransformNR> com.neuronrobotics.sdk.addons.kinematics.DHChain.getChain

(

double[]

jointSpaceVector

)

Gets the chain.

Parameters

jointSpaceVector

the joint space vector

Returns

the chain

Definition at line 262 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix().

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.compute(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChainTransformations(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.linkCoM(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setGlobalToFiducialTransform(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.updateCadLocations(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateLimb().

Here is the call graph for this function:

getFactory()

LinkFactory com.neuronrobotics.sdk.addons.kinematics.DHChain.getFactory

(

)

Gets the factory.

Returns

the factory

Definition at line 472 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.factory.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix().

getInverseSolver()

DhInverseSolver com.neuronrobotics.sdk.addons.kinematics.DHChain.getInverseSolver

(

)

Gets the inverse solver.

Returns

the inverse solver

Definition at line 334 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.chain, com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getMatrixTransform(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getRotation(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getX(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getY(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getZ(), com.neuronrobotics.sdk.addons.kinematics.DHChain.inverseKinematics(), com.neuronrobotics.sdk.addons.kinematics.DHChain.is, and com.neuronrobotics.sdk.addons.kinematics.DHChain.links.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getInverseSolver(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.inverseKinematics().

Here is the call graph for this function:

getLinks()

ArrayList<DHLink> com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks

(

)

Gets the links.

Returns

the links

Definition at line 313 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.links.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.addLink(), com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDH_Alpha(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDH_D(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDH_R(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDH_Theta(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getLinkObjectManipulator(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getListener(), com.neuronrobotics.sdk.addons.kinematics.DHChain.inverseKinematics(), com.neuronrobotics.sdk.addons.kinematics.ComputedGeometricModel.inverseKinematics(), com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.inverseKinematics(), com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.inverseKinematics(), com.neuronrobotics.sdk.addons.kinematics.ik.DeltaIKModel.inverseKinematics6dof(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.onJointSpaceUpdate(), com.neuronrobotics.sdk.addons.kinematics.DHChain.removeLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.removeLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setDH_Alpha(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setDH_D(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setDH_R(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setDH_Theta(), com.neuronrobotics.sdk.addons.kinematics.DHChain.toString(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.updateLimb().

getlowerLimits()

double [] com.neuronrobotics.sdk.addons.kinematics.DHChain.getlowerLimits

(

)

Gets the lower limits.

Returns

the lower limits

Definition at line 294 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.lowerLimits.

Referenced by com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.inverseKinematics(), and com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.SearchTreeSolver().

getUpperLimits()

double [] com.neuronrobotics.sdk.addons.kinematics.DHChain.getUpperLimits

(

)

Gets the upper limits.

Returns

the upper limits

Definition at line 284 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.upperLimits.

Referenced by com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.inverseKinematics(), and com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.SearchTreeSolver().

inverseKinematics()

double [] com.neuronrobotics.sdk.addons.kinematics.DHChain.inverseKinematics	(	TransformNR	target,
		double[]	jointSpaceVector
	)		throws Exception

Inverse kinematics.

Parameters

target	the target
jointSpaceVector	the joint space vector

Returns

the double[]

Exceptions

Exception

the exception

Definition at line 113 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.debug, com.neuronrobotics.sdk.addons.kinematics.DHChain.getInverseSolver(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver.inverseKinematics(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.setInverseSolver().

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.getInverseSolver(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.inverseKinematics().

Here is the call graph for this function:

removeLink()

void com.neuronrobotics.sdk.addons.kinematics.DHChain.removeLink

(

DHLink

link

)

Removes the link.

Parameters

link

the link

Definition at line 78 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

Here is the call graph for this function:

setChain()

void com.neuronrobotics.sdk.addons.kinematics.DHChain.setChain

(

ArrayList< TransformNR >

chain

)

Sets the chain.

Parameters

chain

the new chain

Definition at line 248 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.chain, and com.neuronrobotics.sdk.addons.kinematics.DHChain.getCachedChain().

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

Here is the call graph for this function:

setFactory()

void com.neuronrobotics.sdk.addons.kinematics.DHChain.setFactory

(

LinkFactory

factory

)

Sets the factory.

Parameters

factory

the new factory

Definition at line 481 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.factory, com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLowerLimits(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getUpperLimits(), com.neuronrobotics.sdk.addons.kinematics.DHChain.lowerLimits, and com.neuronrobotics.sdk.addons.kinematics.DHChain.upperLimits.

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

Here is the call graph for this function:

setInverseSolver()

void com.neuronrobotics.sdk.addons.kinematics.DHChain.setInverseSolver

(

DhInverseSolver

is

)

Sets the inverse solver.

Parameters

is	the new inverse solver

Definition at line 463 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.is.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.inverseKinematics(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setInverseSolver().

setLinks()

void com.neuronrobotics.sdk.addons.kinematics.DHChain.setLinks

(

ArrayList< DHLink >

links

)

Sets the links.

Parameters

links

the new links

Definition at line 304 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.links.

toString()

String com.neuronrobotics.sdk.addons.kinematics.DHChain.toString

(

)

Definition at line 320 of file DHChain.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

Here is the call graph for this function:

Member Data Documentation

chain

ArrayList<TransformNR> com.neuronrobotics.sdk.addons.kinematics.DHChain.chain = new ArrayList<TransformNR>()

private

The chain.

Definition at line 28 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.getCachedChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getInverseSolver(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.setChain().

debug

boolean com.neuronrobotics.sdk.addons.kinematics.DHChain.debug =false

private

The debug.

Definition at line 40 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.inverseKinematics().

factory

LinkFactory com.neuronrobotics.sdk.addons.kinematics.DHChain.factory

private

The factory.

Definition at line 49 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.getFactory(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.setFactory().

intChain

ArrayList<TransformNR> com.neuronrobotics.sdk.addons.kinematics.DHChain.intChain = new ArrayList<TransformNR>()

private

The int chain.

Definition at line 31 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix().

is

DhInverseSolver com.neuronrobotics.sdk.addons.kinematics.DHChain.is

private

The is.

Definition at line 43 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.getInverseSolver(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.setInverseSolver().

kin

AbstractKinematicsNR com.neuronrobotics.sdk.addons.kinematics.DHChain.kin

The kin.

Definition at line 46 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.DHChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardOffset(), com.neuronrobotics.sdk.addons.kinematics.ik.DeltaIKModel.inverseKinematics6dof(), and com.neuronrobotics.sdk.addons.kinematics.WristNormalizer.normalize().

links

ArrayList<DHLink> com.neuronrobotics.sdk.addons.kinematics.DHChain.links = new ArrayList<DHLink>()

private

The links.

Definition at line 25 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.getInverseSolver(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.setLinks().

lowerLimits

double [] com.neuronrobotics.sdk.addons.kinematics.DHChain.lowerLimits

private

The lower limits.

Definition at line 37 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.getlowerLimits(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.setFactory().

upperLimits

double [] com.neuronrobotics.sdk.addons.kinematics.DHChain.upperLimits

private

The upper limits.

Definition at line 34 of file DHChain.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.getUpperLimits(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.setFactory().

---

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

• java-bowler/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java