class serialChain

A series of links connected by joints

Public Fields

configuration* cfg

the configuration to which the chain belongs

ptrList* links

a list of the serial chain's links

ptrList* joints

a list of the joints that connect the chain's links

ptrList* children

a list of the child serial chains that branch from the end of this one

ptrList* endPoints

a list of the end effectors attached to the chain's links

serialChain* parent

the parent chain, if any

int index

the index of the serial chain in the configuration's list of chains

int offset

the offset of the serial chain's variables in the configuration's pos and vel vectors

int numDOFs

the number of DOFs in the serial chain

vector cost

the cost associated with moving each DOF in the chain

Public Methods

serialChain(configuration* cfg)

constructor

~serialChain(void)

destructor

void computeTorques(void)

computes the torque required to cause a chain's motion

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

computes a gradient vector used for joint-limit avoidance

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

computes the jacobian matrix for the specified endpoint

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

computes the mass and center of gravity of the chain

double computeMass(void) const

computes the mass of the chain

void setChainLock(int val, int recurse = 1)

locks or unlocks all joints in the serial chain, and parent chains if recurse is set

int setJointLock(int whichJoint, int val)

locks or unlocks all DOFs of the indicated joint

inline double& pos(int i)

accesses the i'th entry for the chain in cfg->pos

inline double& vel(int i)

accesses the i'th entry for the chain in cfg->pos

inline double& acc(int i)

accesses the i'th entry for the chain in cfg->pos

void computeTorque(const triple &baseAcceleration, const triple &baseOmega, const triple &baseOmegaDot)

computes the joint torques required to cause the acceleration specified in the mechanism's acceleration vector

convenience functions

Documentation

A series of links connected by joints

configuration* cfg

the configuration to which the chain belongs

ptrList* links

a list of the serial chain's links

ptrList* joints

a list of the joints that connect the chain's links

ptrList* children

a list of the child serial chains that branch from the end of this one

ptrList* endPoints

a list of the end effectors attached to the chain's links

serialChain* parent

the parent chain, if any

int index

the index of the serial chain in the configuration's list of chains

int offset

the offset of the serial chain's variables in the configuration's pos and vel vectors

int numDOFs

the number of DOFs in the serial chain

vector cost

the cost associated with moving each DOF in the chain

serialChain(configuration* cfg)

constructor

~serialChain(void)

destructor

void computeTorques(void)

computes the torque required to cause a chain's motion

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

computes a gradient vector used for joint-limit avoidance

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

computes the jacobian matrix for the specified endpoint

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

computes the mass and center of gravity of the chain

double computeMass(void) const

computes the mass of the chain

void setChainLock(int val, int recurse = 1)

locks or unlocks all joints in the serial chain, and parent chains if recurse is set

int setJointLock(int whichJoint, int val)

locks or unlocks all DOFs of the indicated joint

inline double& pos(int i)

accesses the i'th entry for the chain in cfg->pos

inline double& vel(int i)

accesses the i'th entry for the chain in cfg->pos

inline double& acc(int i)

accesses the i'th entry for the chain in cfg->pos

void computeTorque(const triple &baseAcceleration, const triple &baseOmega, const triple &baseOmegaDot)

computes the joint torques required to cause the acceleration specified in the mechanism's acceleration vector

convenience functions

inline int numLinks(void) const

returns the number of links in the serial chain

inline int numJoints(void) const

returns the number of joints in the serial chain

inline int numChildren(void) const

returns the number of child chains

inline link* getLink(int i)

returns the i'th link

inline joint* getJoint(int i)

returns the i'th joint

inline serialChain* getChild(int i)

returns the i'th child

inline endPointRec* getEndPoint(int i)

returns the i'th endpoint record

inline int ix(int i) const

returns the index of the i'th DOF in the configuration state vectors

This class has no child classes.

Friends:

configuration
baseModule

Alphabetic index HTML hierarchy of classes or Java