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

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

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Public Member Functions
	MobileBase ()

TransformNR	calcHome (DHParameterKinematics limb)

HashMap< DHParameterKinematics, TransformNR >	getTipLocations ()

boolean	pose (TransformNR newAbsolutePose) throws Exception

boolean	poseAroundPoint (TransformNR newAbsolutePose, TransformNR around) throws Exception

boolean	pose (TransformNR newAbsolutePose, TransformNR around, HashMap< DHParameterKinematics, TransformNR > tipList) throws Exception

	MobileBase (InputStream configFile)

	MobileBase (Element doc)

ParallelGroup	getParallelGroup (String name)

Set< String >	getParallelGroupNames ()

ArrayList< DHParameterKinematics >	getAllParallelGroups ()

ParallelGroup	getParallelGroup (DHParameterKinematics limb)

void	addLimbToParallel (DHParameterKinematics limb, TransformNR tipOffset, String name, String relativeLimb, int relativeIndex)

void	initializeParalellGroups ()

void	disconnectDevice ()

boolean	connectDevice ()

double[]	inverseKinematics (TransformNR taskSpaceTransform) throws Exception

TransformNR	forwardKinematics (double[] jointSpaceVector)

ArrayList< DHParameterKinematics >	getLegs ()

ArrayList< DHParameterKinematics >	getAppendages ()

ArrayList< DHParameterKinematics >	getAllDHChains ()

HashMap< String, String[]>	getVitamins ()

void	setVitamin (String name, String type, String id)

void	setVitaminVariant (String name, String tagValue2)

String	getVitaminVariant (String name)

String	getXml ()

String	getEmbedableXml ()

ArrayList< DHParameterKinematics >	getSteerable ()

ArrayList< DHParameterKinematics >	getDrivable ()

void	setWalkingDriveEngine (IDriveEngine walkingDriveEngine)

void	DriveArc (TransformNR newPose, double seconds)

void	DriveVelocityStraight (double cmPerSecond)

void	DriveVelocityArc (double degreesPerSecond, double cmRadius)

void	updatePositions ()

String[]	getGitWalkingEngine ()

void	setGitWalkingEngine (String[] walkingEngine)

String[]	getGitSelfSource ()

void	setGitSelfSource (String[] selfSource)

double	getMassKg ()

void	setMassKg (double mass)

TransformNR	getCenterOfMassFromCentroid ()

void	setCenterOfMassFromCentroid (TransformNR centerOfMassFromCentroid)

TransformNR	getIMUFromCentroid ()

void	setIMUFromCentroid (TransformNR centerOfMassFromCentroid)

void	setFiducialToGlobalTransform (TransformNR globe)

void	shutDownParallel (ParallelGroup group)

boolean	connect ()

void	setHomeProvider (ICalcLimbHomeProvider homeProvider)

void	addIOnMobileBaseRenderChange (IOnMobileBaseRenderChange l)

void	removeIOnMobileBaseRenderChange (IOnMobileBaseRenderChange l)

void	clearIOnMobileBaseRenderChange ()

void	event (LinkConfiguration newConf)

void	onIOnMobileBaseRenderChange ()

void	onJointSpaceUpdate (AbstractKinematicsNR source, double[] joints)

void	onJointSpaceTargetUpdate (AbstractKinematicsNR source, double[] joints)

void	onJointSpaceLimit (AbstractKinematicsNR source, int axis, JointLimit event)

void	sync ()

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 ()

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	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 ()

Public Member Functions inherited from com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider
default void	addIHardwareSyncPulseReciver (IHardwareSyncPulseReciver r)

default void	removeIHardwareSyncPulseReciver (IHardwareSyncPulseReciver r)

default void	doSync ()

default ArrayList< IHardwareSyncPulseReciver >	getListeners ()

Static Public Member Functions
static void	main (String[] args) throws Exception

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)

Private Member Functions
void	removeLimFromParallel (DHParameterKinematics limb)

void	loadConfigs (Element doc)

TransformNR	loadTransform (String tagname, Element e)

String	getname (Element e)

String	getParallelGroup (Element e)

String	getTag (Element e, String tagname)

void	loadLimb (Element doc, String tag, ArrayList< DHParameterKinematics > list)

void	loadVitamins (Element doc)

void	getVitamins (Element doc)

String	makeLimbTag (String xml, DHParameterKinematics l)

IDriveEngine	getWalkingDriveEngine ()

void	fireBaseUpdates ()

HashMap< String, ParallelGroup >	getParallelGroups ()

void	addListeners (DHParameterKinematics kin)

void	fireIOnMobileBaseRenderChange ()

Private Attributes
final ArrayList< DHParameterKinematics >	legs = new ArrayList<DHParameterKinematics>()

final ArrayList< DHParameterKinematics >	appendages = new ArrayList<DHParameterKinematics>()

final ArrayList< DHParameterKinematics >	steerable = new ArrayList<DHParameterKinematics>()

final ArrayList< DHParameterKinematics >	drivable = new ArrayList<DHParameterKinematics>()

final ArrayList< IOnMobileBaseRenderChange >	changeListeners = new ArrayList<IOnMobileBaseRenderChange>()

IDriveEngine	walkingDriveEngine = new WalkingDriveEngine()

String[]	walkingEngine

HashMap< String, String[]>	vitamins = new HashMap<String, String[]>()

HashMap< String, String >	vitaminVariant = new HashMap<String, String>()

String[]	selfSource = new String[2]

double	mass = 0.5

TransformNR	centerOfMassFromCentroid = new TransformNR()

TransformNR	IMUFromCentroid = new TransformNR()

HashMap< String, ParallelGroup >	parallelGroups = new HashMap<String, ParallelGroup>()

ICalcLimbHomeProvider	homeProvider = null

Additional Inherited Members
Public Attributes inherited from com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider
HashMap< IHardwareSyncPulseProvider, ArrayList< IHardwareSyncPulseReciver > >	syncPulse =new HashMap<>()

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 MobileBase.

Definition at line 28 of file MobileBase.java.

Constructor & Destructor Documentation

◆ MobileBase() [1/3]

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

Instantiates a new mobile base.

Definition at line 70 of file MobileBase.java.

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

◆ MobileBase() [2/3]

com.neuronrobotics.sdk.addons.kinematics.MobileBase.MobileBase ( InputStream configFile )

Instantiates a new mobile base.

Parameters

configFile the config file

Definition at line 138 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory.getAllNodesDocument(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs().

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◆ MobileBase() [3/3]

com.neuronrobotics.sdk.addons.kinematics.MobileBase.MobileBase ( Element doc )

Instantiates a new mobile base.

Parameters

doc the doc

Definition at line 165 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs().

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Member Function Documentation

◆ addIOnMobileBaseRenderChange()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.addIOnMobileBaseRenderChange ( IOnMobileBaseRenderChange l )

Definition at line 967 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.changeListeners.

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

◆ addLimbToParallel()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.addLimbToParallel	(	DHParameterKinematics	limb,
		TransformNR	tipOffset,
		String	name,
		String	relativeLimb,
		int	relativeIndex
	)

Definition at line 203 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.addLimb(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.removeLimFromParallel().

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◆ addListeners()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.addListeners ( DHParameterKinematics kin )

private

Definition at line 908 of file MobileBase.java.

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

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◆ calcHome()

TransformNR com.neuronrobotics.sdk.addons.kinematics.MobileBase.calcHome ( DHParameterKinematics limb )

Calc home.

Returns: the transform nr

Definition at line 78 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.calcHome(), com.neuronrobotics.sdk.addons.kinematics.ICalcLimbHomeProvider.calcHome(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.homeProvider.

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◆ clearIOnMobileBaseRenderChange()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.clearIOnMobileBaseRenderChange ( )

Definition at line 978 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.changeListeners.

◆ connect()

boolean com.neuronrobotics.sdk.addons.kinematics.MobileBase.connect ( )

This method tells the connection object to start and connects the up and down streams pipes. Once this method is called and returns without exception, the device is ready to communicate with

Returns: true, if successful

Exceptions

InvalidConnectionException the invalid connection exception

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

Definition at line 880 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.addListeners(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.addRegistrationListener(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.connect(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.fireBaseUpdates(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains(), and com.neuronrobotics.sdk.common.NonBowlerDevice.isAvailable().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.connect(), and com.neuronrobotics.bowlerstudio.BowlerKernel.processReturnedObjects().

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◆ connectDevice()

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

Connect device.

Returns: true, if successful

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

Definition at line 428 of file MobileBase.java.

References com.neuronrobotics.sdk.common.Log.error(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains().

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◆ disconnectDevice()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.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 415 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains().

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◆ DriveArc()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.DriveArc	(	TransformNR	newPose,
		double	seconds
	)

Drive arc.

Parameters

newPose	the new pose
seconds	the seconds

Definition at line 757 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.IDriveEngine.DriveArc(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getWalkingDriveEngine(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.updatePositions().

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◆ DriveVelocityArc()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.DriveVelocityArc	(	double	degreesPerSecond,
		double	cmRadius
	)

Drive velocity arc.

Parameters

degreesPerSecond	the degrees per second
cmRadius	the cm radius

Definition at line 779 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.IDriveEngine.DriveVelocityArc(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getWalkingDriveEngine(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.updatePositions().

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◆ DriveVelocityStraight()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.DriveVelocityStraight ( double cmPerSecond )

Drive velocity straight.

Parameters

cmPerSecond the cm per second

Definition at line 767 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.IDriveEngine.DriveVelocityStraight(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getWalkingDriveEngine(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.updatePositions().

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◆ event()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.event ( LinkConfiguration newConf )

Implements com.neuronrobotics.sdk.addons.kinematics.ILinkConfigurationChangeListener.

Definition at line 984 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.fireIOnMobileBaseRenderChange().

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◆ fireBaseUpdates()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.fireBaseUpdates ( )

private

Definition at line 863 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.forwardOffset(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains().

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

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◆ fireIOnMobileBaseRenderChange()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.fireIOnMobileBaseRenderChange ( )

private

Definition at line 956 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.changeListeners, and com.neuronrobotics.sdk.addons.kinematics.IOnMobileBaseRenderChange.onIOnMobileBaseRenderChange().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.event(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.onIOnMobileBaseRenderChange(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.onJointSpaceUpdate(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.updatePositions().

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◆ forwardKinematics()

TransformNR com.neuronrobotics.sdk.addons.kinematics.MobileBase.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 457 of file MobileBase.java.

◆ getAllDHChains()

ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains ( )

Gets the all dh chains.

Returns: the all dh chains

Definition at line 485 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.appendages, com.neuronrobotics.sdk.addons.kinematics.MobileBase.drivable, com.neuronrobotics.sdk.addons.kinematics.MobileBase.legs, and com.neuronrobotics.sdk.addons.kinematics.MobileBase.steerable.

◆ getAllParallelGroups()

ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllParallelGroups ( )

Definition at line 184 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroupNames().

Referenced by com.neuronrobotics.bowlerstudio.sequence.TimeSequence.loadMobileBase().

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◆ getAppendages()

ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAppendages ( )

Gets the appendages.

Returns: the appendages

Definition at line 476 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.appendages.

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

◆ getCenterOfMassFromCentroid()

TransformNR com.neuronrobotics.sdk.addons.kinematics.MobileBase.getCenterOfMassFromCentroid ( )

Definition at line 841 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.centerOfMassFromCentroid.

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

◆ getDrivable()

ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getDrivable ( )

Gets the drivable.

Returns: the drivable

Definition at line 728 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.drivable.

◆ getEmbedableXml()

String com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml ( )

Gets the embedable xml.

Returns: the embedable xml

Definition at line 617 of file MobileBase.java.

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

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◆ getGitSelfSource()

String [] com.neuronrobotics.sdk.addons.kinematics.MobileBase.getGitSelfSource ( )

Gets the self source.

Returns: the self source

Definition at line 817 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.selfSource.

Referenced by com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.generateStls(), com.neuronrobotics.bowlerstudio.BowlerKernel.processReturnedObjects(), and com.neuronrobotics.bowlerstudio.creature.UserManagedPrintBed.UserManagedPrintBed().

◆ getGitWalkingEngine()

String [] com.neuronrobotics.sdk.addons.kinematics.MobileBase.getGitWalkingEngine ( )

Gets the walking engine.

Returns: the walking engine

Definition at line 798 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.walkingEngine.

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

◆ getIMUFromCentroid()

TransformNR com.neuronrobotics.sdk.addons.kinematics.MobileBase.getIMUFromCentroid ( )

Definition at line 849 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.IMUFromCentroid.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose().

◆ getLegs()

ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getLegs ( )

Gets the legs.

Returns: the legs

Definition at line 467 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.legs.

Referenced by com.neuronrobotics.sdk.addons.kinematics.WalkingDriveEngine.DriveArc().

◆ getMassKg()

double com.neuronrobotics.sdk.addons.kinematics.MobileBase.getMassKg ( )

Definition at line 832 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.mass.

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

◆ getname()

String com.neuronrobotics.sdk.addons.kinematics.MobileBase.getname ( Element e )

private

Gets the name.

Parameters

e	the e
tag	the tag

Returns: the name

Definition at line 312 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getTag().

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

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◆ getParallelGroup() [1/3]

ParallelGroup com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup ( DHParameterKinematics limb )

Definition at line 192 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroupNames().

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◆ getParallelGroup() [2/3]

String com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup ( Element e )

private

Gets the contents in the group.

Parameters

e	the e
tag	the tag

Returns: the name

Definition at line 326 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getTag().

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◆ getParallelGroup() [3/3]

ParallelGroup com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup ( String name )

Definition at line 171 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroups().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.addLimbToParallel(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllParallelGroups(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadLimb(), com.neuronrobotics.bowlerstudio.sequence.TimeSequence.loadMobileBase(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.main(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.removeLimFromParallel().

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◆ getParallelGroupNames()

Set<String> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroupNames ( )

Definition at line 180 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroups().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllParallelGroups(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup().

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◆ getParallelGroups()

HashMap<String, ParallelGroup> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroups ( )

private

Definition at line 875 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.parallelGroups.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroupNames(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.initializeParalellGroups(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.makeLimbTag(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.removeLimFromParallel().

◆ getSteerable()

ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getSteerable ( )

Gets the steerable.

Returns: the steerable

Definition at line 719 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.steerable.

◆ getTag()

String com.neuronrobotics.sdk.addons.kinematics.MobileBase.getTag	(	Element	e,
		String	tagname
	)

private

Gets the localTag

Parameters

e	the e
tag	the tag

Returns: the name

Definition at line 337 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getname(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadLimb().

◆ getTipLocations()

HashMap<DHParameterKinematics, TransformNR> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getTipLocations ( )

Definition at line 86 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.calcHome(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.legs.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.poseAroundPoint().

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◆ getVitamins() [1/2]

HashMap<String, String[]> com.neuronrobotics.sdk.addons.kinematics.MobileBase.getVitamins ( )

Definition at line 524 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.vitamins.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadVitamins(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.setVitamin().

◆ getVitamins() [2/2]

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.getVitamins ( Element doc )

private

Gets the vitamins.

Parameters

doc the doc

Definition at line 533 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory.getTagValue(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.setVitamin(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.setVitaminVariant().

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◆ getVitaminVariant()

String com.neuronrobotics.sdk.addons.kinematics.MobileBase.getVitaminVariant ( String name )

Get a purchaing code for a vitamin

Parameters

name	name of vitamin

Returns

Definition at line 588 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.vitaminVariant.

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

◆ getWalkingDriveEngine()

IDriveEngine com.neuronrobotics.sdk.addons.kinematics.MobileBase.getWalkingDriveEngine ( )

private

Gets the walking drive engine.

Returns: the walking drive engine

Definition at line 737 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.walkingDriveEngine.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.DriveArc(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.DriveVelocityArc(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.DriveVelocityStraight().

◆ getXml()

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

Gets the xml.

Returns: the xml

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

Definition at line 601 of file MobileBase.java.

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

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

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◆ initializeParalellGroups()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.initializeParalellGroups ( )

Definition at line 261 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.calcHome(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getNameOfParallelGroup(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroups(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDesiredTaskSpaceTransform().

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

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◆ inverseKinematics()

double [] com.neuronrobotics.sdk.addons.kinematics.MobileBase.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 445 of file MobileBase.java.

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

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◆ loadConfigs()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs ( Element doc )

private

Load configs.

Parameters

doc the doc

Definition at line 225 of file MobileBase.java.

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

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◆ loadLimb()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadLimb	(	Element	doc,
		String	tag,
		ArrayList< DHParameterKinematics >	list
	)

private

Load limb.

Parameters

doc	the doc
tag	the tag
list	the list

Definition at line 366 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getname(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getTag(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadTransform(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.setScriptingName(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

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

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◆ loadTransform()

TransformNR com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadTransform	(	String	tagname,
		Element	e
	)

private

Definition at line 279 of file MobileBase.java.

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

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

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◆ loadVitamins()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadVitamins ( Element doc )

private

Load limb.

Parameters

doc	the doc
tag	the tag
list	the list

Definition at line 510 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getVitamins().

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

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◆ main()

static void com.neuronrobotics.sdk.addons.kinematics.MobileBase.main ( String[] args ) throws Exception

static

Definition at line 922 of file MobileBase.java.

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◆ makeLimbTag()

String com.neuronrobotics.sdk.addons.kinematics.MobileBase.makeLimbTag	(	String	xml,
		DHParameterKinematics	l
	)

private

Definition at line 694 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroups(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.getScriptingName(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffset(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetRelativeIndex(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetRelativeName().

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

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◆ onIOnMobileBaseRenderChange()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.onIOnMobileBaseRenderChange ( )

Implements com.neuronrobotics.sdk.addons.kinematics.IOnMobileBaseRenderChange.

Definition at line 990 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.fireIOnMobileBaseRenderChange().

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◆ onJointSpaceLimit()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.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 1008 of file MobileBase.java.

◆ onJointSpaceTargetUpdate()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.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 1002 of file MobileBase.java.

◆ onJointSpaceUpdate()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.onJointSpaceUpdate	(	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 996 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.fireIOnMobileBaseRenderChange().

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◆ pose() [1/2]

boolean com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose ( TransformNR newAbsolutePose ) throws Exception

Definition at line 97 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getIMUFromCentroid(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.getTipLocations().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.poseAroundPoint().

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◆ pose() [2/2]

boolean com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose	(	TransformNR	newAbsolutePose,
		TransformNR	around,
		HashMap< DHParameterKinematics, TransformNR >	tipList
	)		throws Exception

Definition at line 109 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFiducialToGlobalTransform(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.legs, com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setGlobalToFiducialTransform(), and com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.times().

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◆ poseAroundPoint()

boolean com.neuronrobotics.sdk.addons.kinematics.MobileBase.poseAroundPoint	(	TransformNR	newAbsolutePose,
		TransformNR	around
	)		throws Exception

Definition at line 103 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getTipLocations(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose().

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◆ removeIOnMobileBaseRenderChange()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.removeIOnMobileBaseRenderChange ( IOnMobileBaseRenderChange l )

Definition at line 973 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.changeListeners.

◆ removeLimFromParallel()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.removeLimFromParallel ( DHParameterKinematics limb )

private

Definition at line 210 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getNameOfParallelGroup(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroup(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroups(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.removeLimb().

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

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◆ setCenterOfMassFromCentroid()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setCenterOfMassFromCentroid ( TransformNR centerOfMassFromCentroid )

Definition at line 845 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.centerOfMassFromCentroid.

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

◆ setFiducialToGlobalTransform()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setFiducialToGlobalTransform ( TransformNR globe )

Definition at line 857 of file MobileBase.java.

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

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

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◆ setGitSelfSource()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setGitSelfSource ( String[] selfSource )

Sets the self source. index 0 is GIT url index 1 is filename

Parameters

selfSource the new self source

Definition at line 828 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.selfSource.

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

◆ setGitWalkingEngine()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setGitWalkingEngine ( String[] walkingEngine )

Sets the walking engine.

Parameters

walkingEngine the new walking engine

Definition at line 807 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.walkingEngine.

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

◆ setHomeProvider()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setHomeProvider ( ICalcLimbHomeProvider homeProvider )

Definition at line 963 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.homeProvider.

◆ setIMUFromCentroid()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setIMUFromCentroid ( TransformNR centerOfMassFromCentroid )

Definition at line 853 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.centerOfMassFromCentroid.

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

◆ setMassKg()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setMassKg ( double mass )

Definition at line 836 of file MobileBase.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.getScriptingName(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.mass.

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

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◆ setVitamin()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setVitamin	(	String	name,
		String	type,
		String	id
	)

Add a vitamin to this link

Parameters

name	the name of this vitamin, if the name already exists, the data will be overwritten.
type	the vitamin type, this maps the the json filename
id	the part ID, theis maps to the key in the json for the vitamin

Definition at line 564 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.getVitamins().

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

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◆ setVitaminVariant()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setVitaminVariant	(	String	name,
		String	tagValue2
	)

Set a purchasing code for a vitamin

Parameters

name	name of vitamin
tagValue2	Purchaning code

Definition at line 578 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.vitaminVariant.

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

◆ setWalkingDriveEngine()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.setWalkingDriveEngine ( IDriveEngine walkingDriveEngine )

Sets the walking drive engine.

Parameters

walkingDriveEngine the new walking drive engine

Definition at line 747 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.walkingDriveEngine.

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

◆ shutDownParallel()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.shutDownParallel ( ParallelGroup group )

Definition at line 870 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.close(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getNameOfParallelGroup(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.parallelGroups.

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◆ sync()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.sync ( )

Implements com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseReciver.

Definition at line 1014 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider.doSync().

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◆ updatePositions()

void com.neuronrobotics.sdk.addons.kinematics.MobileBase.updatePositions ( )

Update positions.

Definition at line 788 of file MobileBase.java.

References com.neuronrobotics.sdk.addons.kinematics.MobileBase.fireIOnMobileBaseRenderChange(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.runRenderWrangler().

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.DriveArc(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.DriveVelocityArc(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.DriveVelocityStraight(), and com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.setMobileBase().

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Member Data Documentation

◆ appendages

final ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.appendages = new ArrayList<DHParameterKinematics>()

private

The appendages.

Definition at line 35 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAppendages(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs().

◆ centerOfMassFromCentroid

TransformNR com.neuronrobotics.sdk.addons.kinematics.MobileBase.centerOfMassFromCentroid = new TransformNR()

private

Definition at line 60 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getCenterOfMassFromCentroid(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.setCenterOfMassFromCentroid(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.setIMUFromCentroid().

◆ changeListeners

final ArrayList<IOnMobileBaseRenderChange> com.neuronrobotics.sdk.addons.kinematics.MobileBase.changeListeners = new ArrayList<IOnMobileBaseRenderChange>()

private

The drivable.

Definition at line 44 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.addIOnMobileBaseRenderChange(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.clearIOnMobileBaseRenderChange(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.fireIOnMobileBaseRenderChange(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.removeIOnMobileBaseRenderChange().

◆ drivable

final ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.drivable = new ArrayList<DHParameterKinematics>()

private

The drivable.

Definition at line 41 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getDrivable(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs().

◆ homeProvider

ICalcLimbHomeProvider com.neuronrobotics.sdk.addons.kinematics.MobileBase.homeProvider = null

private

Definition at line 65 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.calcHome(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.setHomeProvider().

◆ IMUFromCentroid

TransformNR com.neuronrobotics.sdk.addons.kinematics.MobileBase.IMUFromCentroid = new TransformNR()

private

Definition at line 62 of file MobileBase.java.

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

◆ legs

final ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.legs = new ArrayList<DHParameterKinematics>()

private

The legs.

Definition at line 32 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getLegs(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getTipLocations(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.pose().

◆ mass

double com.neuronrobotics.sdk.addons.kinematics.MobileBase.mass = 0.5

private

Definition at line 59 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getMassKg(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.setMassKg().

◆ parallelGroups

HashMap<String, ParallelGroup> com.neuronrobotics.sdk.addons.kinematics.MobileBase.parallelGroups = new HashMap<String, ParallelGroup>()

private

Definition at line 64 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getParallelGroups(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.shutDownParallel().

◆ selfSource

String [] com.neuronrobotics.sdk.addons.kinematics.MobileBase.selfSource = new String[2]

private

The self source.

Definition at line 57 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getGitSelfSource(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.setGitSelfSource().

◆ steerable

final ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.MobileBase.steerable = new ArrayList<DHParameterKinematics>()

private

The steerable.

Definition at line 38 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getAllDHChains(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getEmbedableXml(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.getSteerable(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadConfigs().

◆ vitamins

HashMap<String, String[]> com.neuronrobotics.sdk.addons.kinematics.MobileBase.vitamins = new HashMap<String, String[]>()

private

Definition at line 53 of file MobileBase.java.

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

◆ vitaminVariant

HashMap<String, String> com.neuronrobotics.sdk.addons.kinematics.MobileBase.vitaminVariant = new HashMap<String, String>()

private

Definition at line 54 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getVitaminVariant(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.setVitaminVariant().

◆ walkingDriveEngine

IDriveEngine com.neuronrobotics.sdk.addons.kinematics.MobileBase.walkingDriveEngine = new WalkingDriveEngine()

private

The walking drive engine.

Definition at line 47 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getWalkingDriveEngine(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.setWalkingDriveEngine().

◆ walkingEngine

String [] com.neuronrobotics.sdk.addons.kinematics.MobileBase.walkingEngine

private

Initial value:

= new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git",

"WalkingDriveEngine.groovy" }

The walking engine.

Definition at line 50 of file MobileBase.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.getGitWalkingEngine(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.setGitWalkingEngine().

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

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MobileBase() [1/3]

◆ MobileBase() [2/3]

◆ MobileBase() [3/3]

Member Function Documentation

◆ addIOnMobileBaseRenderChange()

◆ addLimbToParallel()

◆ addListeners()

◆ calcHome()

◆ clearIOnMobileBaseRenderChange()

◆ connect()

◆ connectDevice()

◆ disconnectDevice()

◆ DriveArc()

◆ DriveVelocityArc()

◆ DriveVelocityStraight()

◆ event()

◆ fireBaseUpdates()

◆ fireIOnMobileBaseRenderChange()

◆ forwardKinematics()

◆ getAllDHChains()

◆ getAllParallelGroups()

◆ getAppendages()

◆ getCenterOfMassFromCentroid()

◆ getDrivable()

◆ getEmbedableXml()

◆ getGitSelfSource()

◆ getGitWalkingEngine()

◆ getIMUFromCentroid()

◆ getLegs()

◆ getMassKg()

◆ getname()

◆ getParallelGroup() [1/3]

◆ getParallelGroup() [2/3]

◆ getParallelGroup() [3/3]

◆ getParallelGroupNames()

◆ getParallelGroups()

◆ getSteerable()

◆ getTag()

◆ getTipLocations()

◆ getVitamins() [1/2]

◆ getVitamins() [2/2]

◆ getVitaminVariant()

◆ getWalkingDriveEngine()

◆ getXml()

◆ initializeParalellGroups()

◆ inverseKinematics()

◆ loadConfigs()

◆ loadLimb()

◆ loadTransform()

◆ loadVitamins()

◆ main()

◆ makeLimbTag()

◆ onIOnMobileBaseRenderChange()

◆ onJointSpaceLimit()

◆ onJointSpaceTargetUpdate()

◆ onJointSpaceUpdate()

◆ pose() [1/2]

◆ pose() [2/2]

◆ poseAroundPoint()

◆ removeIOnMobileBaseRenderChange()

◆ removeLimFromParallel()

◆ setCenterOfMassFromCentroid()

◆ setFiducialToGlobalTransform()

◆ setGitSelfSource()

◆ setGitWalkingEngine()

◆ setHomeProvider()

◆ setIMUFromCentroid()

◆ setMassKg()

◆ setVitamin()

◆ setVitaminVariant()

◆ setWalkingDriveEngine()

◆ shutDownParallel()

◆ sync()