Inheritance diagram for com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup:

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Collaboration diagram for com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup:

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Public Member Functions
TransformNR	getTipOffsetFromThisLinkInLimb (DHParameterKinematics control, int index)

	ParallelGroup (String name)

void	addLimb (DHParameterKinematics limb, TransformNR tip, String name, int index)

DHParameterKinematics	getFKLimb ()

TransformNR	calcHome ()

void	setupReferencedLimb (DHParameterKinematics limb, TransformNR tip, String name, int index)

void	setupReferencedLimbStartup (DHParameterKinematics limb, TransformNR tip, String name, int index)

void	clearReferencedLimb (DHParameterKinematics limb)

void	disconnectDevice ()

boolean	connectDevice ()

void	setCurrentPoseTarget (TransformNR currentPoseTarget)

double[]	getCurrentJointSpaceVector (DHParameterKinematics k)

double[]	inverseKinematics (TransformNR taskSpaceTransform) throws Exception

void	printError (TransformNR taskSpaceTransform) throws Exception

void	printError (TransformNR taskSpaceTransform, Consumer< String > printer) throws Exception

TransformNR	forwardKinematics (double[] jointSpaceVector)

String[]	getGitCadToolEngine ()

void	setGitCadToolEngine (String[] cadEngine)

ArrayList< DHParameterKinematics >	getConstituantLimbs ()

HashMap< DHParameterKinematics, TransformNR >	getTipOffset ()

TransformNR	getTipOffset (DHParameterKinematics l)

void	setTipOffset (DHParameterKinematics l, TransformNR n)

String	getTipOffsetRelativeName (DHParameterKinematics l)

int	getTipOffsetRelativeIndex (DHParameterKinematics l)

void	setTipOffset (HashMap< DHParameterKinematics, TransformNR > tipOffset)

void	removeLimb (DHParameterKinematics limb)

String	getNameOfParallelGroup ()

void	close ()

Public Member Functions inherited from com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics
	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

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	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)

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	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[]	compute (DHParameterKinematics ldh, HashMap< String, double[]> IKvalues, TransformNR taskSpaceTransform) throws Exception

DHParameterKinematics	findReferencedLimb (String refLimbName)

Private Attributes
ArrayList< DHParameterKinematics >	constituantLimbs = new ArrayList<DHParameterKinematics>()

HashMap< DHParameterKinematics, TransformNR >	tipOffset = new HashMap<DHParameterKinematics, TransformNR>()

HashMap< DHParameterKinematics, String >	tipOffsetRelativeToName = new HashMap<>()

HashMap< DHParameterKinematics, Integer >	tipOffsetRelativeIndex = new HashMap<>()

String[]	toolEngine

String	name

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

Definition at line 14 of file ParallelGroup.java.

Constructor & Destructor Documentation

◆ ParallelGroup()

com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.ParallelGroup ( String name )

Definition at line 38 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.name.

Member Function Documentation

◆ addLimb()

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.addLimb	(	DHParameterKinematics	limb,
		TransformNR	tip,
		String	name,
		int	index
	)

Definition at line 44 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.name, and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimb().

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

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◆ calcHome()

TransformNR com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.calcHome ( )

Calc home.

Returns: the transform nr

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

Definition at line 66 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.calcHome(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getFKLimb().

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

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◆ clearReferencedLimb()

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.clearReferencedLimb ( DHParameterKinematics limb )

Definition at line 126 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffset(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeIndex, and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeToName.

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

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◆ close()

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.close ( )

Definition at line 345 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.constituantLimbs, com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffset, and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeToName.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.disconnectDevice(), and com.neuronrobotics.sdk.addons.kinematics.MobileBase.shutDownParallel().

◆ compute()

double [] com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.compute	(	DHParameterKinematics	ldh,
		HashMap< String, double[]>	IKvalues,
		TransformNR	taskSpaceTransform
	)		throws Exception

private

Definition at line 148 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.findReferencedLimb(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getChain(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getChain(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffset(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.inverse(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.scriptingName, com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeIndex, and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeToName.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.inverseKinematics(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.printError().

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◆ connectDevice()

boolean com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.connectDevice ( )

Connect device.

Returns: true, if successful

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

Definition at line 143 of file ParallelGroup.java.

◆ disconnectDevice()

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.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.DHParameterKinematics.

Definition at line 133 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.close(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs().

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◆ findReferencedLimb()

DHParameterKinematics com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.findReferencedLimb ( String refLimbName )

private

Definition at line 176 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs().

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

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◆ forwardKinematics()

TransformNR com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.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.DHParameterKinematics.

Definition at line 267 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getFKLimb().

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◆ getConstituantLimbs()

ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs ( )

Definition at line 295 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.constituantLimbs.

◆ getCurrentJointSpaceVector()

double [] com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getCurrentJointSpaceVector ( DHParameterKinematics k )

Definition at line 201 of file ParallelGroup.java.

◆ getFKLimb()

DHParameterKinematics com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getFKLimb ( )

Definition at line 50 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffset().

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.calcHome(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.forwardKinematics(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

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◆ getGitCadToolEngine()

String [] com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getGitCadToolEngine ( )

Gets the cad engine.

Returns: the cad engine

Definition at line 281 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.toolEngine.

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

◆ getNameOfParallelGroup()

String com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getNameOfParallelGroup ( )

Definition at line 341 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.name.

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

◆ getTipOffset() [1/2]

HashMap<DHParameterKinematics, TransformNR> com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffset ( )

Definition at line 303 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffset.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.clearReferencedLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.compute(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getFKLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetFromThisLinkInLimb(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.main(), com.neuronrobotics.sdk.addons.kinematics.MobileBase.makeLimbTag(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

◆ getTipOffset() [2/2]

TransformNR com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffset ( DHParameterKinematics l )

Definition at line 307 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffset.

◆ getTipOffsetFromThisLinkInLimb()

TransformNR com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetFromThisLinkInLimb	(	DHParameterKinematics	control,
		int	index
	)

Definition at line 25 of file ParallelGroup.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.getScriptingName(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffset(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.name, com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeIndex, and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeToName.

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◆ getTipOffsetRelativeIndex()

int com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetRelativeIndex ( DHParameterKinematics l )

Definition at line 319 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeIndex.

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

◆ getTipOffsetRelativeName()

String com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetRelativeName ( DHParameterKinematics l )

Definition at line 315 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeToName.

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

◆ inverseKinematics()

double [] com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.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.DHParameterKinematics.

Definition at line 206 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.compute(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs().

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◆ printError() [1/2]

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.printError ( TransformNR taskSpaceTransform ) throws Exception

Definition at line 228 of file ParallelGroup.java.

◆ printError() [2/2]

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.printError	(	TransformNR	taskSpaceTransform,
		Consumer< String >	printer
	)		throws Exception

Definition at line 233 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.compute(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getLowerLimit(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getUpperLimit(), and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.toLinkUnits().

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◆ removeLimb()

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.removeLimb ( DHParameterKinematics limb )

Definition at line 327 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLink(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.clearReferencedLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.constituantLimbs, com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFactory(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setFactory().

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

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◆ setCurrentPoseTarget()

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

Sets the current pose target.

Parameters

currentPoseTarget the new current pose target

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

Definition at line 195 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkTaskSpaceTransform(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.currentPoseTarget.

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◆ setGitCadToolEngine()

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setGitCadToolEngine ( String[] cadEngine )

Sets the cad engine.

Parameters

cadEngine the new cad engine

Definition at line 290 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.cadEngine.

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

◆ setTipOffset() [1/2]

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setTipOffset	(	DHParameterKinematics	l,
		TransformNR	n
	)

Definition at line 311 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffset.

◆ setTipOffset() [2/2]

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setTipOffset ( HashMap< DHParameterKinematics, TransformNR > tipOffset )

Definition at line 323 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffset.

◆ setupReferencedLimb()

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimb	(	DHParameterKinematics	limb,
		TransformNR	tip,
		String	name,
		int	index
	)

Definition at line 70 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.name, and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

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

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◆ setupReferencedLimbStartup()

void com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup	(	DHParameterKinematics	limb,
		TransformNR	tip,
		String	name,
		int	index
	)

Definition at line 80 of file ParallelGroup.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLink(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.clearReferencedLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.getFactory(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getFKLimb(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkConfigurations(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.getScriptingName(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffset(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.name, com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeIndex, and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeToName.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MobileBase.loadLimb(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimb().

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Member Data Documentation

◆ constituantLimbs

ArrayList<DHParameterKinematics> com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.constituantLimbs = new ArrayList<DHParameterKinematics>()

private

Definition at line 16 of file ParallelGroup.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.close(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getConstituantLimbs(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.removeLimb().

◆ name

String com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.name

private

Definition at line 23 of file ParallelGroup.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.addLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getNameOfParallelGroup(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetFromThisLinkInLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.ParallelGroup(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimb(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

◆ tipOffset

HashMap<DHParameterKinematics, TransformNR> com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffset = new HashMap<DHParameterKinematics, TransformNR>()

private

Definition at line 17 of file ParallelGroup.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.close(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffset(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setTipOffset().

◆ tipOffsetRelativeIndex

HashMap<DHParameterKinematics, Integer> com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeIndex = new HashMap<>()

private

Definition at line 19 of file ParallelGroup.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.clearReferencedLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.compute(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetFromThisLinkInLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetRelativeIndex(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

◆ tipOffsetRelativeToName

HashMap<DHParameterKinematics, String> com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.tipOffsetRelativeToName = new HashMap<>()

private

Definition at line 18 of file ParallelGroup.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.clearReferencedLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.close(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.compute(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetFromThisLinkInLimb(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.getTipOffsetRelativeName(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

◆ toolEngine

String [] com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.toolEngine

private

Initial value:

= new String[] { "https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git",

"parallelTool.groovy" }

The cad engine.

Definition at line 21 of file ParallelGroup.java.

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

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

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ParallelGroup()

Member Function Documentation

◆ addLimb()

◆ calcHome()

◆ clearReferencedLimb()

◆ close()

◆ compute()

◆ connectDevice()

◆ disconnectDevice()

◆ findReferencedLimb()

◆ forwardKinematics()

◆ getConstituantLimbs()

◆ getCurrentJointSpaceVector()

◆ getFKLimb()

◆ getGitCadToolEngine()

◆ getNameOfParallelGroup()

◆ getTipOffset() [1/2]

◆ getTipOffset() [2/2]

◆ getTipOffsetFromThisLinkInLimb()

◆ getTipOffsetRelativeIndex()

◆ getTipOffsetRelativeName()

◆ inverseKinematics()

◆ printError() [1/2]

◆ printError() [2/2]

◆ removeLimb()

◆ setCurrentPoseTarget()

◆ setGitCadToolEngine()

◆ setTipOffset() [1/2]

◆ setTipOffset() [2/2]

◆ setupReferencedLimb()

◆ setupReferencedLimbStartup()

Member Data Documentation

◆ constituantLimbs

◆ name

◆ tipOffset

◆ tipOffsetRelativeIndex

◆ tipOffsetRelativeToName

◆ toolEngine