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

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

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Public Member Functions
	GenericKinematicsModelNR (InputStream configFile, GenericPIDDevice device)

	GenericKinematicsModelNR ()

TransformNR	forwardKinematics (double[] jointSpaceVector)

double[]	inverseKinematics (TransformNR cartesianSpaceVector) throws Exception

void	disconnectDevice ()

boolean	connectDevice ()

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)

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 ()

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 ()

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 GenericKinematicsModelNR.

Definition at line 20 of file GenericKinematicsModelNR.java.

Constructor & Destructor Documentation

◆ GenericKinematicsModelNR() [1/2]

com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR.GenericKinematicsModelNR	(	InputStream	configFile,
		GenericPIDDevice	device
	)

Instantiates a new generic kinematics model nr.

Parameters

configFile	the config file
device	the device

Definition at line 31 of file GenericKinematicsModelNR.java.

◆ GenericKinematicsModelNR() [2/2]

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

Instantiates a new generic kinematics model nr.

Definition at line 41 of file GenericKinematicsModelNR.java.

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

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Member Function Documentation

◆ connectDevice()

boolean com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR.connectDevice ( )

Connect device.

Returns: true, if successful

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

Definition at line 103 of file GenericKinematicsModelNR.java.

◆ disconnectDevice()

void com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR.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.

Definition at line 94 of file GenericKinematicsModelNR.java.

◆ forwardKinematics()

TransformNR com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR.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.

Definition at line 49 of file GenericKinematicsModelNR.java.

References com.neuronrobotics.sdk.addons.kinematics.math.RotationNR.getRotationMatrix(), com.neuronrobotics.sdk.addons.kinematics.math.RotationNR.getRotationX(), com.neuronrobotics.sdk.addons.kinematics.math.RotationNR.getRotationY(), and com.neuronrobotics.sdk.addons.kinematics.math.RotationNR.getRotationZ().

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◆ inverseKinematics()

double [] com.neuronrobotics.sdk.addons.kinematics.GenericKinematicsModelNR.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.

Definition at line 72 of file GenericKinematicsModelNR.java.

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

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GenericKinematicsModelNR() [1/2]

◆ GenericKinematicsModelNR() [2/2]

Member Function Documentation

◆ connectDevice()

◆ disconnectDevice()

◆ forwardKinematics()

◆ inverseKinematics()