class baseModule

Derived module class representing a fixed or mobile robot base

Inheritance:

Public Fields

matrix* J

jacobian

double cost

relative cost of movement, currently disabled

int numSupportPts

number of points in support polygon.

bodyPoint* supportPts

vertices of support polygon.

bodyPoint stablePt

a point that should always be inside the base's support polygon

baseMotionType baseType

the type of motion (none, planar, or spatial) performed by the base

Public Methods

baseModule(const baseModule &other)

constructor

~baseModule(void)

destructor

new methods for baseModule

Jacobian-related routines

Public Members

typedef enum Indicates the type of motion for the base's root link.

Inherited from dofModule:

Public Fields

ptrList joints

Public Methods

virtual double maxVel(joint* jt, int dof) const

virtual double maxTorque(joint* jt, int dof, int isBraking) const

virtual double contTorque(joint* jt, int dof) const

virtual double power(joint* jt, int dof) const

virtual int isPassive(joint* jt, int dof) const

inline int numJoints(void) const

inline joint* getJoint(int i)

Inherited from module:

Public Fields

static int currentID

static const tmatrix connectionRotation

configuration* cfg

int ref

char* name

bool isPrototype

handedness whichSide

module* parent

assembly* as

ptrList* params

ptrList* attachments

cptrList* components

const componentContext* context

Public Methods

Virtual methods.

convenience functions

inline const ptrList* getDependencies(int whichParam)

Public Members

enum subType

enum handedness

Protected Methods

void assignConnectorIDs(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

Derived module class representing a fixed or mobile robot base

typedef enum Indicates the type of motion for the base's root link.

Indicates the type of motion for the base's root link. These meanings are identical to those of the mechanism::baseMotionType enum.

• FIXED_BASE - the base is fixed and has no degrees of freedom
• PLANAR_BASE - the base can move freely in the plane and thus has 3 DOFs
• FREE_BASE - the base can move freely in space, and thus has 6 DOFs

FREE_BASE

matrix* J

jacobian

double cost

relative cost of movement, currently disabled

int numSupportPts

number of points in support polygon. Used for computing stability

bodyPoint* supportPts

vertices of support polygon. Used for computing stability

bodyPoint stablePt

a point that should always be inside the base's support polygon

baseMotionType baseType

the type of motion (none, planar, or spatial) performed by the base

baseModule(const baseModule &other)

constructor

~baseModule(void)

destructor

new methods for baseModule

virtual link* getDesiredRootLink(void)

returns a pointer to the link that should be used as the mechaism root

virtual int isHolonomic(void) const

returns 1 if the base's motion is holonomic, 0 otherwise. This is only used by the motionPlanner class.

Class-specific motion planning methods.

These methods are not currently used, as the motion planner code has not been touched in (literally) years and is probably not in working order

Jacobian-related routines

void allocateJacobian(void)

allocates a jacobian matrix for the base

virtual int computeLimitGradient(vector &v, int offset = 0)

computes a gradient vector used for joint-limit avoidance

virtual int computeJacobian(matrix &J, link* endLink, const triple &worldPt, int includeRotations = 1)

computes a jacobian matrix for the base.

Direct child classes:

hexapodBase
simpleRoverBase
rockerBase
nonComponentBase

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