com.neuronrobotics.sdk.pid.ILinkFactoryProvider Interface Reference

Public Member Functions
LinkConfiguration	requestLinkConfiguration (int index)
double[]	setDesiredTaskSpaceTransform (TransformNR taskSpaceTransform, double seconds)
TransformNR	getCurrentTaskSpaceTransform ()
TransformNR	setDesiredJointSpaceVector (double[] jointSpaceVect, double seconds)
void	setDesiredJointAxisValue (int axis, double value, double seconds)

Detailed Description

The Interface ILinkFactoryProvider.

Definition at line 10 of file ILinkFactoryProvider.java.

Member Function Documentation

getCurrentTaskSpaceTransform()

TransformNR com.neuronrobotics.sdk.pid.ILinkFactoryProvider.getCurrentTaskSpaceTransform

(

)

This takes a reading of the robots position and converts it to a joint space vector This vector is converted to task space and returned .

Returns

taskSpaceVector in mm,radians [x,y,z,rotx,rotY,rotZ]

requestLinkConfiguration()

LinkConfiguration com.neuronrobotics.sdk.pid.ILinkFactoryProvider.requestLinkConfiguration

(

int

index

)

Request link configuration.

Parameters

index

the index

Returns

the link configuration

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

setDesiredJointAxisValue()

void com.neuronrobotics.sdk.pid.ILinkFactoryProvider.setDesiredJointAxisValue	(	int	axis,
		double	value,
		double	seconds
	)

Sets an individual target joint position .

Parameters

axis	the joint index to set
value	the value to set it to
seconds	the time for the transition to take from current position to target, unit seconds

setDesiredJointSpaceVector()

TransformNR com.neuronrobotics.sdk.pid.ILinkFactoryProvider.setDesiredJointSpaceVector	(	double[]	jointSpaceVect,
		double	seconds
	)

This calculates the target pose .

Parameters

jointSpaceVect	the joint space vect
seconds	the time for the transition to take from current position to target, unit seconds

Returns

The joint space vector is returned for target arrival referance

setDesiredTaskSpaceTransform()

double [] com.neuronrobotics.sdk.pid.ILinkFactoryProvider.setDesiredTaskSpaceTransform	(	TransformNR	taskSpaceTransform,
		double	seconds
	)

This calculates the target pose .

Parameters

taskSpaceTransform	the task space transform
seconds	the time for the transition to take from current position to target, unit seconds

Returns

The joint space vector is returned for target arrival referance

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

• java-bowler/src/main/java/com/neuronrobotics/sdk/pid/ILinkFactoryProvider.java