javax.robotics.engine.robots
Interface Robot3D

All Superinterfaces:

Robot, java.io.Serializable

All Known Implementing Classes:

DHRobot3D

public interface Robot3D
extends Robot

This is an interface for graphic 3D, kinematics and dynamics model of different open chain robot manipulators.

Example of use

The example Demo3D.java shows how to use Robot3D class in your java based application.

Since:

1.0.3

Version:

16/11/2005

Author:

Carmine Lia

Field Summary

static boolean	PRISMATIC
static boolean	REVOLUTE

Fields inherited from interface javax.robotics.engine.robots.Robot

DEBUG, HOMOGENEOUS_MATRIX_DIM, INITMOTOR_DIM, INITROBOT_DIM, JACOBIAN_DIMENSION, SPACE_DIM

Method Summary

javax.media.j3d.BranchGroup	getModel3D() Gets the model 3D of robot manipulator.
RMatrix4d	getTransformMatrix(int i) Gets the 4x4 transformation matrix of i-th joint.
boolean	isJointImmobile(int i) Gets the immobile flag.
boolean	isJointPrismatic(int i) Gets the type of joint REVOLUTE or PRISMATIC
void	setQ3D(double[] q) Sets the position of the joints.
void	setQ3D(double q, int i) Sets the position of the i-th joint.
void	setQ3D(RVector q) Sets the position of the joints.
void	setQ3DOnly(double[] q) Sets the position of the joints only of 3D model.
void	setQ3DOnly(double q, int i) Sets the position of the i-th joint only of 3D model.
void	setQ3DOnly(RVector q) Sets the position of the joints only of 3D model.

Methods inherited from interface javax.robotics.engine.robots.Robot

acceleration, acceleration, acceleration, acceleration, dTdqi, getAvailableDof, getDof, getGravity, getID, getQ, getQ, getQMax, getQMin, getQOffset, getQp, getQpp, getRobotConfiguration, inertia, invKine, invKine, jacobian, jacobian, jacobianDLSinv, jacobianDot, jacobianDot, kine, kine, setGravity, setQ, setQ, setQ, setQp, setQp, setQpp, setQpp, torque, torque, torque, torque, torqueC, torqueCoulombFriction, torqueGravity, torqueViscousFriction

Field Detail

PRISMATIC

static final boolean PRISMATIC

See Also:

Constant Field Values

REVOLUTE

static final boolean REVOLUTE

See Also:

Constant Field Values

Method Detail

isJointPrismatic

boolean isJointPrismatic(int i)

Gets the type of joint REVOLUTE or PRISMATIC

Parameters:

i - the joint

Returns:

true if prismatic false if revolute

isJointImmobile

boolean isJointImmobile(int i)

Gets the immobile flag.

Parameters:

i - the joint

Returns:

the immobile flag.

getModel3D

javax.media.j3d.BranchGroup getModel3D()

Gets the model 3D of robot manipulator.

Returns:

the Java 3D model.

getTransformMatrix

RMatrix4d getTransformMatrix(int i)

Gets the 4x4 transformation matrix of i-th joint.

Parameters:

i - the i-th joint;

Returns:

the homogeneous matrix.

setQ3DOnly

void setQ3DOnly(RVector q)

Sets the position of the joints only of 3D model.

Parameters:

q - the new positions.

setQ3DOnly

void setQ3DOnly(double[] q)

Sets the position of the joints only of 3D model.

Parameters:

q - the new positions.

setQ3DOnly

void setQ3DOnly(double q,
                int i)

Sets the position of the i-th joint only of 3D model.

Parameters:

q - the new position.

i - the joint.

setQ3D

void setQ3D(RVector q)

Sets the position of the joints.

Parameters:

q - the new positions.

setQ3D

void setQ3D(double[] q)

Sets the position of the joints.

Parameters:

q - the new positions.

setQ3D

void setQ3D(double q,
            int i)

Sets the position of the i-th joint.

Parameters:

q - the new position.

i - the joint.