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

Inheritance diagram for com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics:

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

Public Member Functions
	DHParameterKinematics (BowlerAbstractDevice bad, Element linkStream)
	DHParameterKinematics (BowlerAbstractDevice bad, InputStream linkStream)
	DHParameterKinematics (BowlerAbstractDevice bad, InputStream linkStream, InputStream depricated)
	DHParameterKinematics (BowlerAbstractDevice bad)
	DHParameterKinematics (BowlerAbstractDevice bad, String file)
	DHParameterKinematics (BowlerAbstractDevice bad, File configFile) throws FileNotFoundException
	DHParameterKinematics ()
	DHParameterKinematics (String file)
	DHParameterKinematics (Element linkStream)
	DHParameterKinematics (File configFile) throws FileNotFoundException
double[]	inverseKinematics (TransformNR taskSpaceTransform) throws Exception
TransformNR	forwardKinematics (double[] jointSpaceVector)
Matrix	getJacobian (DHChain chain, double[] jointSpaceVector, int index)
Matrix	getJacobian ()
Matrix	getJacobian (int index)
Matrix	getJacobian (double[] jointSpaceVector, int index)
ArrayList< TransformNR >	getChainTransformations ()
void	setDhChain (DHChain chain)
DHChain	getDhChain ()
DHChain	getChain ()
void	setChain (DHChain chain)
String	getXml ()
String	getEmbedableXml ()
void	disconnectDevice ()
boolean	connectDevice ()
void	onTaskSpaceUpdate (AbstractKinematicsNR source, TransformNR pose)
void	onTargetTaskSpaceUpdate (AbstractKinematicsNR source, TransformNR pose)
DhInverseSolver	getInverseSolver ()
void	setInverseSolver (DhInverseSolver inverseSolver)
Object	getCurrentTargetObject ()
void	addNewLink (LinkConfiguration newLink, DHLink dhLink)
void	removeLink (int index)
ArrayList< TransformNR >	updateCadLocations ()
void	onJointSpaceUpdate (final AbstractKinematicsNR source, final double[] joints)
void	setGlobalToFiducialTransform (TransformNR frameToBase)
void	onJointSpaceTargetUpdate (AbstractKinematicsNR source, double[] joints)
void	onJointSpaceLimit (AbstractKinematicsNR source, int axis, JointLimit event)
TransformNR	linkCoM (double linkAngleToClaculate, int linkIndex)
TransformNR	linkCoM (int linkIndex)
Object	getLinkObjectManipulator (int index)
double	getDH_Theta (int index)
double	getDH_D (int index)
double	getDH_R (int index)
double	getDH_Alpha (int index)
void	setDH_Theta (int index, double value)
void	setDH_D (int index, double value)
void	setDH_R (int index, double value)
void	setDH_Alpha (int index, double value)
DHLink	getDhLink (int i)
Object	getListener (int i)
void	setRobotToFiducialTransform (TransformNR newTrans)
void	refreshPose ()
MobileBase	getSlaveMobileBase (int index)
void	throwExceptionOnJointLimit (boolean b)
TransformNR	getLinkTip (int linkIndex)
Public Member Functions inherited from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR
Object	getRootListener ()
void	setRootListener (Object listener)
ArrayList< String >	getNamespacesImp ()
void	disconnectDeviceImp ()
boolean	connectDeviceImp ()
	AbstractKinematicsNR ()
	AbstractKinematicsNR (InputStream configFile, LinkFactory f)
	AbstractKinematicsNR (Element doc, LinkFactory f)
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 ()
TransformNR	getRobotToFiducialTransform ()
void	setGlobalToFiducialTransform (TransformNR frameToBase, boolean fireUpdate)
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 ()
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 ()

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

Private Attributes
DHChain	chain = null
ArrayList< Object >	linksListeners = new ArrayList<Object>()
Object	currentTarget = new Object()
ArrayList< LinkConfiguration >	configs

Additional Inherited Members
Static Public Member Functions inherited from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR
static boolean	checkTaskSpaceTransform (AbstractKinematicsNR dev, TransformNR taskSpaceTransform, double seconds)
static boolean	checkTaskSpaceTransform (AbstractKinematicsNR dev, TransformNR taskSpaceTransform)
Protected Member Functions inherited from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR
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 inherited from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR
ArrayList< IJointSpaceUpdateListenerNR >	jointSpaceUpdateListeners = new ArrayList<IJointSpaceUpdateListenerNR>()

Detailed Description

The Class DHParameterKinematics.

Definition at line 23 of file DHParameterKinematics.java.

Constructor & Destructor Documentation

DHParameterKinematics() [1/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics	(	BowlerAbstractDevice	bad,
		Element	linkStream
	)

Instantiates a new DH parameter kinematics.

Parameters

bad	the bad
linkStream	the link stream

Definition at line 64 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.addConnectionEventListener(), com.neuronrobotics.sdk.common.NonBowlerDevice.disconnect(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getDhParametersChain(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getDyio(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFactory(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkConfigurations(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getNumberOfLinks(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getSlaveMobileBase(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain().

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DHParameterKinematics() [2/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics	(	BowlerAbstractDevice	bad,
		InputStream	linkStream
	)

Instantiates a new DH parameter kinematics.

Parameters

bad	the bad
linkStream	the link stream

Definition at line 99 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.addConnectionEventListener(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getDhParametersChain(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getDyio(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFactory(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkConfigurations(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain().

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DHParameterKinematics() [3/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics	(	BowlerAbstractDevice	bad,
		InputStream	linkStream,
		InputStream	depricated
	)

Instantiates a new DH parameter kinematics.

Parameters

bad	the bad
linkStream	the link stream
depricated	the depricated

Definition at line 120 of file DHParameterKinematics.java.

DHParameterKinematics() [4/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics

(

BowlerAbstractDevice

bad

)

Instantiates a new DH parameter kinematics.

Parameters

bad

the bad

Definition at line 130 of file DHParameterKinematics.java.

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

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DHParameterKinematics() [5/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics	(	BowlerAbstractDevice	bad,
		String	file
	)

Instantiates a new DH parameter kinematics.

Parameters

bad	the bad
file	the file

Definition at line 142 of file DHParameterKinematics.java.

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

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DHParameterKinematics() [6/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics	(	BowlerAbstractDevice	bad,
		File	configFile
	)		throws FileNotFoundException

Instantiates a new DH parameter kinematics.

Parameters

bad	the bad
configFile	the config file

Exceptions

FileNotFoundException

the file not found exception

Definition at line 156 of file DHParameterKinematics.java.

DHParameterKinematics() [7/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics

(

)

Instantiates a new DH parameter kinematics.

Definition at line 163 of file DHParameterKinematics.java.

DHParameterKinematics() [8/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics

(

String

file

)

Instantiates a new DH parameter kinematics.

Parameters

file

the file

Definition at line 173 of file DHParameterKinematics.java.

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

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DHParameterKinematics() [9/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics

(

Element

linkStream

)

Instantiates a new DH parameter kinematics.

Parameters

linkStream

the link stream

Definition at line 183 of file DHParameterKinematics.java.

DHParameterKinematics() [10/10]

com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics

(

File

configFile

)

throws FileNotFoundException

Instantiates a new DH parameter kinematics.

Parameters

configFile

the config file

Exceptions

FileNotFoundException

the file not found exception

Definition at line 195 of file DHParameterKinematics.java.

Member Function Documentation

addNewLink()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink	(	LinkConfiguration	newLink,
		DHLink	dhLink
	)

Adds the new link.

Parameters

newLink	the new link
dhLink	the dh link

Definition at line 580 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.addLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLinkListener(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.chain, com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.factory, com.neuronrobotics.sdk.addons.kinematics.AbstractLink.flush(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFactory(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink(), com.neuronrobotics.sdk.addons.kinematics.DHLink.getListener(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPrismatic(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isTool(), com.neuronrobotics.sdk.addons.kinematics.DhLinkType.PRISMATIC, com.neuronrobotics.sdk.addons.kinematics.LinkFactory.removeLinkListener(), com.neuronrobotics.sdk.addons.kinematics.DhLinkType.ROTORY, com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.setFactory(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setGlobalPositionListener(), com.neuronrobotics.sdk.addons.kinematics.DHLink.setLinkType(), and com.neuronrobotics.sdk.addons.kinematics.DhLinkType.TOOL.

Referenced by com.neuronrobotics.bowlerstudio.scripting.RobotHelper.getDefaultContents().

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connectDevice()

boolean com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.connectDevice

(

)

Connect device.

Returns

true, if successful

Reimplemented from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.

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

Definition at line 512 of file DHParameterKinematics.java.

crossProduct()

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

private

Cross product.

Parameters

a	the a
b	the b

Returns

the double[]

Definition at line 230 of file DHParameterKinematics.java.

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

disconnectDevice()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.disconnectDevice

(

)

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.addons.kinematics.AbstractKinematicsNR.

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

Definition at line 499 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.removeJointSpaceUpdateListener(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.removePoseUpdateListener().

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forwardKinematics()

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

(

double[]

jointSpaceVector

)

Forward kinematics.

Parameters

jointSpaceVector

the joint space vector

Returns

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

Reimplemented from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.

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

Definition at line 217 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematics(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain().

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

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getChain()

DHChain com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain

(

)

Gets the chain.

Returns

the chain

Definition at line 401 of file DHParameterKinematics.java.

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

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

getChainTransformations()

ArrayList<TransformNR> com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChainTransformations

(

)

Gets the chain transformations.

Returns

the chain transformations

Definition at line 373 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getChain(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceVector().

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getCurrentTargetObject()

Object com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getCurrentTargetObject

(

)

Gets the current target Object.

Returns

the current target Object

Definition at line 568 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.currentTarget.

getDH_Alpha()

double com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDH_Alpha

(

int

index

)

Gets the alpha.

Returns

the alpha

Definition at line 753 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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getDH_D()

double com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDH_D

(

int

index

)

Gets the d.

Returns

the d

Definition at line 733 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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getDH_R()

double com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDH_R

(

int

index

)

Gets the r.

Returns

the r

Definition at line 744 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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getDH_Theta()

double com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDH_Theta

(

int

index

)

Gets the theta.

Returns

the theta

Definition at line 725 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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getDhChain()

DHChain com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain

(

)

Gets the dh chain.

Returns

the dh chain

Definition at line 392 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain().

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.forwardKinematics(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getListener(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.inverseKinematics(), com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.removeLink().

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getDhLink()

DHLink com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhLink

(

int

i

)

Definition at line 795 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.addListeners(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.generateCad(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getSlaveMobileBase().

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getEmbedableXml()

String com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml

(

)

Gets the embedable xml.

Returns

the embedable xml

Definition at line 461 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.chain, com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFiducialToGlobalTransform(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getGitCadEngine(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getGitDhEngine(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getRobotToFiducialTransform(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), and com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getXml().

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getXml(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.makeLimbTag().

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getInverseSolver()

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

(

)

Gets the inverse solver.

Returns

the inverse solver

Definition at line 549 of file DHParameterKinematics.java.

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

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getJacobian() [1/4]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian

(

)

Gets the Jacobian matrix.

Returns

a matrix representing the Jacobian for the current configuration

Definition at line 348 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain().

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

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getJacobian() [2/4]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian	(	DHChain	chain,
		double[]	jointSpaceVector,
		int	index
	)

Gets the Jacobian matrix.

Parameters

jointSpaceVector

the joint space vector

Returns

a matrix representing the Jacobian for the current configuration

Definition at line 245 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.chain, com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.crossProduct(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.forwardOffset(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getMatrixTransform(), com.neuronrobotics.sdk.addons.kinematics.math.RotationNR.getRotationMatrix(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getRotationMatrix(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getX(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getY(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getZ(), and com.neuronrobotics.sdk.addons.kinematics.DhLinkType.ROTORY.

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getJacobian() [3/4]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian	(	double[]	jointSpaceVector,
		int	index
	)

Gets the Jacobian matrix.

Returns

a matrix representing the Jacobian for the current configuration

Definition at line 364 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian().

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getJacobian() [4/4]

Matrix com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian

(

int

index

)

Gets the Jacobian matrix.

Returns

a matrix representing the Jacobian for the current configuration

Definition at line 356 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceVector(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian().

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getLinkObjectManipulator()

Object com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getLinkObjectManipulator

(

int

index

)

Definition at line 716 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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getLinkTip()

TransformNR com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getLinkTip

(

int

linkIndex

)

Definition at line 830 of file DHParameterKinematics.java.

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

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getListener()

Object com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getListener

(

int

i

)

Definition at line 798 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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getSlaveMobileBase()

MobileBase com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getSlaveMobileBase

(

int

index

)

Definition at line 814 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhLink(), and com.neuronrobotics.sdk.addons.kinematics.DHLink.getSlaveMobileBase().

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

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getXml()

String com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getXml

(

)

Gets the xml.

Returns

the xml

Reimplemented from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.

Definition at line 445 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml().

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inverseKinematics()

double [] com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.inverseKinematics

(

TransformNR

taskSpaceTransform

)

throws Exception

Inverse kinematics.

Parameters

taskSpaceTransform

the task space transform

Returns

Nx1 vector in task space, in mm where N is number of links

Exceptions

Exception

the exception

Reimplemented from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.

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

Definition at line 206 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceVector(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.inverseKinematics().

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linkCoM() [1/2]

TransformNR com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.linkCoM	(	double	linkAngleToClaculate,
		int	linkIndex
	)

Definition at line 705 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getChain(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceVector(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkConfiguration().

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

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linkCoM() [2/2]

TransformNR com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.linkCoM

(

int

linkIndex

)

Definition at line 713 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceVector(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.linkCoM().

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onJointSpaceLimit()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.onJointSpaceLimit	(	AbstractKinematicsNR	source,
		int	axis,
		JointLimit	event
	)

The JointSpace limit This is called when the kinematics model has a new set of pose data.

Parameters

source	The AbstractKinematics object that the update was called from
axis	the axis
event	the event

Implements com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR.

Definition at line 698 of file DHParameterKinematics.java.

onJointSpaceTargetUpdate()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.onJointSpaceTargetUpdate	(	AbstractKinematicsNR	source,
		double[]	joints
	)

The JointSpace update event This is called when the kinematics model has a new set of pose data.

Parameters

source	The AbstractKinematics object that the update was called from
joints	the current joint space values mm,radians

Implements com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR.

Definition at line 684 of file DHParameterKinematics.java.

onJointSpaceUpdate()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.onJointSpaceUpdate	(	final AbstractKinematicsNR	source,
		final double[]	joints
	)

The JointSpace update event This is called when the kinematics model has a new set of pose data.

Parameters

source	The AbstractKinematics object that the update was called from
joints	the current joint space values mm,radians

Implements com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR.

Definition at line 646 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHLink.fireOnLinkGlobalPositionChange(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.updateCadLocations().

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onTargetTaskSpaceUpdate()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.onTargetTaskSpaceUpdate	(	AbstractKinematicsNR	source,
		TransformNR	pose
	)

The position update event This is called when the kinematics model has a new set of target data.

Parameters

source	The AbstractKinematics object that the update was called from
pose	target pose transform

Implements com.neuronrobotics.sdk.addons.kinematics.ITaskSpaceUpdateListenerNR.

Definition at line 539 of file DHParameterKinematics.java.

onTaskSpaceUpdate()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.onTaskSpaceUpdate	(	AbstractKinematicsNR	source,
		TransformNR	pose
	)

The position update event This is called when the kinematics model has a new set of pose data.

Parameters

source	The AbstractKinematics object that the update was called from
pose	the current pose transform

Implements com.neuronrobotics.sdk.addons.kinematics.ITaskSpaceUpdateListenerNR.

Definition at line 526 of file DHParameterKinematics.java.

refreshPose()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.refreshPose

(

)

Definition at line 811 of file DHParameterKinematics.java.

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

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removeLink()

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

(

int

index

)

Removes the link.

Parameters

index

the index

Definition at line 611 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLinkListener(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.chain, com.neuronrobotics.sdk.addons.kinematics.LinkFactory.deleteLink(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.factory, com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getDhChain(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFactory(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.removeLinkListener(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain().

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setChain()

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

(

DHChain

chain

)

Sets the chain.

Parameters

chain

the new chain

Definition at line 411 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.addJointSpaceListener(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.addPoseUpdateListener(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.chain, com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.configs, com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFactory(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getLinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkConfigurations(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getRootListener(), com.neuronrobotics.sdk.addons.kinematics.DhLinkType.PRISMATIC, com.neuronrobotics.sdk.addons.kinematics.DhLinkType.ROTORY, and com.neuronrobotics.sdk.addons.kinematics.DhLinkType.TOOL.

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

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setDH_Alpha()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setDH_Alpha	(	int	index,
		double	value
	)

Gets the alpha.

Definition at line 791 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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setDH_D()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setDH_D	(	int	index,
		double	value
	)

Gets the d.

Definition at line 771 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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setDH_R()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setDH_R	(	int	index,
		double	value
	)

Gets the r.

Definition at line 782 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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setDH_Theta()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setDH_Theta	(	int	index,
		double	value
	)

Gets the theta.

Definition at line 763 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks().

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setDhChain()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setDhChain

(

DHChain

chain

)

Sets the dh chain.

Parameters

chain

the new dh chain

Definition at line 383 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain().

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setGlobalToFiducialTransform()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setGlobalToFiducialTransform

(

TransformNR

frameToBase

)

Sets the global to fiducial transform.

Parameters

frameToBase

the new global to fiducial transform

Reimplemented from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.

Definition at line 663 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getChain(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceVector(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.getScriptingName(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.runRenderWrangler(), and com.neuronrobotics.sdk.addons.kinematics.DHChain.setChain().

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

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setInverseSolver()

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

(

DhInverseSolver

inverseSolver

)

Sets the inverse solver.

Parameters

inverseSolver

the new inverse solver

Definition at line 559 of file DHParameterKinematics.java.

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

Referenced by com.neuronrobotics.bowlerstudio.creature.MobileBaseLoader.setDefaultDhParameterKinematics().

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setRobotToFiducialTransform()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setRobotToFiducialTransform

(

TransformNR

newTrans

)

Sets the robot to fiducial transform.

Parameters

newTrans

the new robot to fiducial transform

Reimplemented from com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.

Definition at line 807 of file DHParameterKinematics.java.

throwExceptionOnJointLimit()

void com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.throwExceptionOnJointLimit

(

boolean

b

)

THis disables the exception being thrown on joint limits normal mode is to throw an exception when a joint is commanded to a value beyond its limits

when exceptions are disabled, the joint just goes to the limit instead.

Parameters

b

Definition at line 824 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getAbstractLink(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getNumberOfLinks(), and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setUseLimits().

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updateCadLocations()

ArrayList<TransformNR> com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.updateCadLocations

(

)

Update cad locations.

Definition at line 627 of file DHParameterKinematics.java.

References com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getChain(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getCurrentJointSpaceVector().

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

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Member Data Documentation

chain

DHChain com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.chain = null

private

The chain.

Definition at line 27 of file DHParameterKinematics.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getInverseSolver(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getJacobian(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.removeLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain(), and com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setInverseSolver().

configs

ArrayList<LinkConfiguration> com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.configs

private

Definition at line 54 of file DHParameterKinematics.java.

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

currentTarget

Object com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.currentTarget = new Object()

private

The current target.

Definition at line 33 of file DHParameterKinematics.java.

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

linksListeners

ArrayList<Object> com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.linksListeners = new ArrayList<Object>()

private

The links listeners.

Definition at line 30 of file DHParameterKinematics.java.

---

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

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