class configuration

Represents a robot composed of parameterized modules.

Public Fields

int id

an identifier

char* label

an identifying label for the configuration.

module* base

the base module

mechanism* mech

the mechanism for the configuration

baseModule::baseMotionType baseType

the type of base motion

ptrList dofToJoint

mapping from DOFs to joints

ptrList joints

local list of joints, in case mechanisms are split or joined

ptrList links

local list of links, in case mechanisms are split or joined

int numDOFs

number of DOFs in the configuration's mechanism

int endpointDOFs

number of DOFs of each of the robot's endpoints (typically 6)

int outputDOFs

total number of DOFs of the robots endpoints (ie.

matrix* J

the robot's jacobian matrix

vector pos

the position of each of the robot's degrees of freedom.

vector vel

the velocity of each of the robot's degrees of freedom.

int computeLockedTorques

indicates whether joint torques should be computed for locked DOFs

ptrList* modules

a list of the modules comprising the robot

ptrList* taskParams

a list of the task parameters for the configuration

ptrList* chains

a list of serial chains

ptrList* prototypes

a list of the configuration's prototype modules

ptrList* endPoints

a list of endPointRecs, one per tool module

ptrList* blocks

a list of blockRecs, used for composing the jacobian

ptrList* constrainingModules

a list of modules that have dynamic constraints

ptrList* cfgComponents

a list of cfgComponents

Public Methods

configuration(void)

constructor

configuration(const configuration &cfg)

copy constructor

~configuration(void)

destructor

int init(dynamicSystem* ds)

instantiates the robot.

void setMotionMode(motionMode m)

sets the motion mode (base only, chains only, or all)

inline motionMode getMotionMode(void) const

returns the current motion mode

inline int baseIsMobile(void) const

returns 1 if the base is mobile, or 0 if not

kinematics

joint and state stuff

int computeDeflections(double &linearDeflection, double &angularDeflection)

computes the sum of end effector deflections due to applied forces

miscellaneous

int updateComponents(int &violated)

calls update() for all cfgComponents

inline void addCfgComponent(cfgComponent* cc)

adds a cfgComponent to a configuration

inline int removeCfgComponent(cfgComponent* cc)

removes a cfgComponent from a configuration

const configuration& cfg2 return(cfg1 == cfg2)

convenience functions. const versions are also available.

Public Members

enum motionMode

Sets the current motion mode for the robot.

Documentation

Represents a robot composed of parameterized modules. Configurations provide an abstract representation of a robot, allowing the synthesizer to combine portions of different robots and create new robots by adding and removing modules. At the same time, configurations provide a higher level of abstraction than a purely geometric or mechanical representation of the robot, providing functionality such as computation of Jacobian matrices and organization of links and joints into serial chains.

Representation Each configuration has two graphs describing the robot's modules: A directed, acyclic graph of prototype modules in which multiple connections to a module result indicate that the subgraph rooted at the module should be reproduced, and a tree that is instantiated from the subgraph by duplicating the subgraphs with multiple incoming attachments. The initial graph is composed of prototype modules, which do not have any associated geometry. The instantiation process generates the tree and also creates a mechanical representation of the robot, in the form of a 'mechanism' composed of 'link' and 'joint' objects (defined in dyno.h).

enum motionMode

Sets the current motion mode for the robot.

• BASE_ONLY - only the base link's DOFs may be moved.
• CHAINS_ONLY - only the serial chain DOFs (i.e. not the base link's DOFs) may be moved.
• ALL - all of the configuration's degrees of freedom may be moved.

int id

an identifier

char* label

an identifying label for the configuration. If non-null, it will be deleted by the destructor, so the setter of the label must ensure that the string has been allocated with the new operator.

module* base

the base module

mechanism* mech

the mechanism for the configuration

baseModule::baseMotionType baseType

the type of base motion

ptrList dofToJoint

mapping from DOFs to joints

ptrList joints

local list of joints, in case mechanisms are split or joined

ptrList links

local list of links, in case mechanisms are split or joined

int numDOFs

number of DOFs in the configuration's mechanism

int endpointDOFs

number of DOFs of each of the robot's endpoints (typically 6)

int outputDOFs

total number of DOFs of the robots endpoints (ie. # rows in jacobian)

matrix* J

the robot's jacobian matrix

vector pos

the position of each of the robot's degrees of freedom. this is copied from the mechanism state by updateStateFromMech().

vector vel

the velocity of each of the robot's degrees of freedom. this is copied from the mechanism state by updateStateFromMech().

int computeLockedTorques

indicates whether joint torques should be computed for locked DOFs

ptrList* modules

a list of the modules comprising the robot

ptrList* taskParams

a list of the task parameters for the configuration

ptrList* chains

a list of serial chains

ptrList* prototypes

a list of the configuration's prototype modules

ptrList* endPoints

a list of endPointRecs, one per tool module

ptrList* blocks

a list of blockRecs, used for composing the jacobian

ptrList* constrainingModules

a list of modules that have dynamic constraints

ptrList* cfgComponents

a list of cfgComponents

configuration(void)

constructor

configuration(const configuration &cfg)

copy constructor

~configuration(void)

destructor

int init(dynamicSystem* ds)

instantiates the robot. this should before doing any simulation.

void setMotionMode(motionMode m)

sets the motion mode (base only, chains only, or all)

inline motionMode getMotionMode(void) const

returns the current motion mode

inline int baseIsMobile(void) const

returns 1 if the base is mobile, or 0 if not

kinematics

int setPayload(int toolIndex, payload* pl)

rigidly attaches pl to the indicated end effector. Note that the current pose of pl relative to the end effector will be preserved; thus, callers should first call payload::alignConnectorToPose() to ensure that one of the payload's connectors is aligned with the tool's TCP

int setPayload(endPointRec* pt, payload* pl)

rigidly attaches pl to the indicated end effector. Note that the current pose of pl relative to the end effector will be preserved; thus, callers should first call payload::alignConnectorToPose() to ensure that one of the payload's connectors is aligned with the tool's TCP

int computeJacobian(void)

computes the jacobian for the configuration, storing it in J

int computeJacobian(matrix &Jc, serialChain* c, link* l, const triple &xlink, int includeRotations)

computes the jacobian for the specified chain

void setChainCost(double c)

sets the relative cost for moving serial chains. This can be used with jacobian control to cause serial chain DOFs to be moved in preference to base DOFs when kinematic redundancy exists.

void setBaseCost(double c)

sets the relative cost for moving base DOFs. This can be used with jacobian control to cause base DOFs to be moved in preference to serial chain DOFs when kinematic redundancy exists.

void getCostVector(vector &v) const

returns the cost for each DOF in v

void getMaxVelocityVector(vector &v)

returns the maximum velocity for each DOF in v

int setLockFromEndpoint(int endPt, int val, int recurse)

locks or unlocks all joints contributing to motion of an end effector. val determines whether joints should be locked (1) or unlocked (0). If recurse is 0, then only those joints in the serial chain containing the end effector are locked (or unlocked); if 1, then all joints in the mechanism that cause the end effector to move are locked (or unlocked)

int setLockFromEndpoint(endPointRec* endPt, int val, int recurse)

locks or unlocks all joints contributing to motion of an end effector. val determines whether joints should be locked (1) or unlocked (0). If recurse is 0, then only those joints in the serial chain containing the end effector are locked (or unlocked); if 1, then all joints in the mechanism that cause the end effector to move are locked (or unlocked)

int clearLock(void)

unlocks any joints in the mechanism that are currently locked

joint and state stuff

double maxVel(joint* jt, int jdim) const

returns the maximum velocity for the specified DOF and joint

double power(joint* jt, int jdim) const

returns the power used by the indicated DOF, given current vel & torque

double maxTorque(joint* jt, int jdim, int isBraking) const

returns the magnitude of the maximum torque/force for the indicated DOF given current velocity. If isBraking is non-zero, then the magnitude of the maximum braking torque/force is returned.

double contTorque(joint* jt, int jdim) const

returns the continuous torque rating for the indicated DOF

int isPassive(joint* jt, int jdim) const

returns 1 if the indicated joint is passive, or 0 if actuated

int updateStateFromMech(void)

updates cfg->pos and cfg->vel from mechanism position & velocity

int updateMechFromState(void)

updates mechanism position & velocity from cfg->pos and cfg->vel

int updatePose(void)

calls mech->setPoseFromJoints and updates endpoint info

int updatePose(const quaternion &q, const triple &t)

calls mech->setPoseFromJoints and updates endpoint info

int computeDeflections(double &linearDeflection, double &angularDeflection)

computes the sum of end effector deflections due to applied forces

miscellaneous

void computeCG(double &m, triple &cg) const

computes the mass and center of gravity of the configuration

double computeMass(void) const

computes the mass of the configuration

double computeEnergyStability(const triple &gravity) const

computes the amount of energy required to tip over the robot

void computeLimitGradient(vector &v) const

computes a gradient vector used for joint-limit avoidance

cfgComponents

int updateComponents(int &violated)

calls update() for all cfgComponents

inline void addCfgComponent(cfgComponent* cc)

adds a cfgComponent to a configuration

inline int removeCfgComponent(cfgComponent* cc)

removes a cfgComponent from a configuration

const configuration& cfg2 return(cfg1 == cfg2)

convenience functions. const versions are also available.

inline joint* getJointByDOF(int dof)

returns the joint associated with the indicated DOF, or NULL if the DOF is for the base

inline int numJoints(void) const

returns the number of joints

inline int numLinks(void) const

returns the number of links

inline int numModules(void) const

returns the number of modules

inline int numChains(void) const

returns the number of serial chains

inline int numPrototypes(void) const

returns the number of prototype modules

inline int numEndPoints(void) const

returns the number of end effectors

inline int numBlocks(void) const

returns the number of blocks

inline int numTaskParams(void) const

returns the number of task parameters

inline int numComponents(void) const

returns the number of cfgComponents

inline baseModule* getBase(void)

returns the root module typecast to a baseModule. NOTE: this does not check to see that the root module actually is a baseModule, so beware!

inline module* getPrototype(int i)

returns the i'th prototype module

inline module* getModule(int i)

returns the i'th module

inline link* getLink(int i)

returns the i'th link

inline joint* getJoint(int i)

returns the i'th joint

inline serialChain* getChain(int i)

returns the i'th serial chain

inline endPointRec* getEndPoint(int i)

returns the i'th endpoint record

inline blockRec* getBlock(int i)

returns the i'th block

inline param* getTaskParam(int i)

returns the i'th task parameter

inline cfgComponent* getComponent(int i)

returns the i'th cfgComponent

This class has no child classes.

Friends:

module
int operator==(const configuration &cfg1, const configuration &cfg2)
int operator!=(const configuration &cfg1,

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