class payload

A class for single-rigid-body payloads.

Inheritance:

Public Fields

link* l

the link representing the payload

mechanism* m

the mechanism representing the payload

dynoContactor* dc

the dynoContactor

ptrList* connectors

a list of connectors for the payload

triple xrel

payload position relative to TCP

quaternion qrel

payload orientation relative to TCP

triple originPos

initial position of origin

quaternion initialQ

initial orientation

int addToDS

indicates whether the payload should be added to the dynamicSystem.

Public Methods

payload(void)

constructor

~payload(void)

destructor

virtual int readParams(paramParser* parser)

reads payload variables from a p-file.

virtual int setVariables(const ptrList* taskParams)

sets variables from any task parameters associated with the payload.

virtual int readFromFile(void)

indicates whether the class should read payload geometry from a file.

int initFromFile(const char* filename)

reads a payload's geometry from a file.

void computeToolCoords(triple &xtool, quaternion &qtool)

given current pose and tool pose (xtool, qtool), compute pose relative to tool

void updatePose(triple &xtool, quaternion &qtool)

update x and q given (xrel, qrel) and (xtool, qtool).

int alignConnectorToPose(triple &xtool, quaternion &qtool, int cnId)

set (x, q) to align connector c (id = cnId) with (xtool, qtool)

inline int numConnectors(void)

returns the number of connectors

inline connector* getConnector(int n)

returns the i'th connector

connector* getConnectorById(int id)

returns the connector with the specified id (if any match)

Inherited from d2kComponent:

Public Fields

d2kSimulator* sim

configuration* cfg

const char* label

int active

Public Methods

virtual int minCfgs(void) const

virtual int maxCfgs(void) const

virtual const char* getCfgName(int i)

virtual int simInit(d2kSimulator* Sim)

virtual int init(ptrList* Cfgs)

virtual int forceCfgResolution(void)

virtual int cleanup(void)

virtual int update(int &violated)

virtual const cfgLabelRecord* getLabelRec(int i) const

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

A class for single-rigid-body payloads. The payload class represents payloads that can be attached to a robot's end effector. Each payload is a single rigid body (though possibly composed of multiple polyhedra) with one or more coordinate frames defining grasp or connector locations. The initFromFile() method can be used to read payload geometry (mpolys and connector frames), while the alignConnectorToPose() method sets the payloads current world-space position so that one of the payload's connectors is aligned with the provided tool control point. The payload can then be rigidly attached to the robot's end effector by using configuration::setPayload().

link* l

the link representing the payload

mechanism* m

the mechanism representing the payload

dynoContactor* dc

the dynoContactor

ptrList* connectors

a list of connectors for the payload

triple xrel

payload position relative to TCP

quaternion qrel

payload orientation relative to TCP

triple originPos

initial position of origin

quaternion initialQ

initial orientation

int addToDS

indicates whether the payload should be added to the dynamicSystem. This isn't necessary unless accurate physical simulation of the payload is desired, and dynamic simulation is being used.

payload(void)

constructor

~payload(void)

destructor

virtual int readParams(paramParser* parser)

reads payload variables from a p-file. The variables read are:

• int verboseLevel - desired level of output
• char geometryFilename[] - file describing payload geometry
• triple originPos - initial location of the payload's origin
• quaternion initialQ - initial payload orientation

virtual int setVariables(const ptrList* taskParams)

sets variables from any task parameters associated with the payload. The variables that are used by the payload class are:

• originX, originY, originZ - initial location of the payload's origin
• initialR, initialI, initialJ, initialK - initial payload orientation.

virtual int readFromFile(void)

indicates whether the class should read payload geometry from a file. This returns 1 for the payload base class; derived classes can override this to return 0 if geometry should not be read from a file in the readParams() method.

int initFromFile(const char* filename)

reads a payload's geometry from a file. The file is stored as text and is in the following format:

• number of connectors
• 16 floats specifying a 4x4 matrix for each connector
• number of mpolys
• description for each mpoly; see readMPoly() for details

void computeToolCoords(triple &xtool, quaternion &qtool)

given current pose and tool pose (xtool, qtool), compute pose relative to tool

void updatePose(triple &xtool, quaternion &qtool)

update x and q given (xrel, qrel) and (xtool, qtool). also compute I from Ibody.

int alignConnectorToPose(triple &xtool, quaternion &qtool, int cnId)

set (x, q) to align connector c (id = cnId) with (xtool, qtool)

inline int numConnectors(void)

returns the number of connectors

inline connector* getConnector(int n)

returns the i'th connector

connector* getConnectorById(int id)

returns the connector with the specified id (if any match)

This class has no child classes.

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