joint.h File Reference Detailed Description
Macro Definition Documentation
One of the possible type of joints. A free joint: imposes no constraint between two links. Used to define free flying robots.
Definition at line 40 of file joint.h. Referenced by GenerateJointEquations(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointSolution(), GetJointDOF(), GetJointDOFValues(), GetJointName(), GetJointRangeN(), GetJointRangeTopology(), GetJointTransform(), GetJointTransSeq(), NewFreeJoint(), PrintJoint(), and PrintJointAxes().
One of the possible type of joints. A fix joint: fixes the translation and the orientation of one link with respect to another link using an homogeneous transform.
Definition at line 51 of file joint.h. Referenced by GenerateJointEquations(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointSolution(), GetJointDOF(), GetJointDOFValues(), GetJointName(), GetJointRangeN(), GetJointRangeTopology(), GetJointTransform(), GetJointTransSeq(), NewFixJoint(), and PrintJoint().
One of the possible type of joints. A revolute joint.
Definition at line 59 of file joint.h. Referenced by AllRevolute(), GenerateJointEquations(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateJointSolution(), GetJointDOF(), GetJointDOFValues(), GetJointName(), GetJointRangeN(), GetJointRangeTopology(), GetJointTransform(), GetJointTransSeq(), IsRevoluteBinaryLink(), NewRevoluteJoint(), PrintJoint(), and PrintJointAxes().
One of the possible type of joints. An universal joint.
Definition at line 67 of file joint.h. Referenced by GenerateJointEquations(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateJointSolution(), GetJointDOF(), GetJointDOFValues(), GetJointName(), GetJointRangeN(), GetJointRangeTopology(), GetJointTransform(), GetJointTransSeq(), NewUniversalJoint(), PrintJoint(), and PrintJointAxes().
One of the possible type of joints. A spherical joint.
Definition at line 75 of file joint.h. Referenced by GenerateJointEquations(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateJointSolution(), GetJointDOF(), GetJointDOFValues(), GetJointName(), GetJointRangeN(), GetJointRangeTopology(), GetJointTransform(), GetJointTransSeq(), NewSphericalJoint(), and PrintJoint().
One of the possible type of joints. A spherical-spherical composite joint. This type of joint define a cylinder of a given length between the two links connected by this joint. A single vector represents this cylinder (gives its orientation w.r.t. the global frame). The position is deduced from the anchor point of the link and the rotation around the cylinder is not taken into account. By using a spherical-spherical composite joint we do not have to represent a full reference frame for the cylindre connecting the links and we save variables and equations. This type of joint is particularly taylored to represent legs of parallel platforms with fixed lenght.
Definition at line 98 of file joint.h. Referenced by GenerateJointEquations(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointSolution(), GetJointDOF(), GetJointDOFValues(), GetJointLength(), GetJointName(), GetJointRangeN(), GetJointRangeTopology(), GetJointTransform(), GetJointTransSeq(), IsJointAllSpheres(), MoveJointFromTransforms(), NewSphSphJoint(), PlotJoint(), and PrintJoint().
One of the possible type of joints. A spherical-prismatic-spherical composite joint. This type of joint define a prismatic joint in between two spherical joints. It is a generalization of the SPH_SPH_JOINT but here the distance between the two spherical joints can vary inside a given range. This variable length is modeled (and graphically represented) as a primatic joint (two cylinders with different radii that can slide one smaller inside the larger). This type of joint is particularly taylored to represent legs of parallel platform with variable lenght.
Definition at line 119 of file joint.h. Referenced by GenerateJointEquations(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateJointSolution(), GetJointDOF(), GetJointDOFValues(), GetJointName(), GetJointRangeN(), GetJointRangeTopology(), GetJointTransform(), GetJointTransSeq(), IsJointAllSpheres(), MoveJointFromTransforms(), NewSphPrsSphJoint(), PlotJoint(), and PrintJoint().
One of the possible type of joints. A prismatic joint.
Definition at line 127 of file joint.h. Referenced by GenerateJointEquations(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateJointSolution(), GetJointDOF(), GetJointDOFValues(), GetJointName(), GetJointRangeN(), GetJointRangeTopology(), GetJointTransform(), GetJointTransSeq(), NewPrismaticJoint(), PrintJoint(), and PrintJointAxes().
Defines a generalized plannar joint where a point in the first link is constrainted to be inside a patch in the second link and the normal of the first link at the given point is aligned with the normal of the patch. The patch is defined as a order-one Bezier patch that is given by 4 points. If those for points are co-planar this joint is a plannar joint with a plane limited by the 4 given points.
Definition at line 142 of file joint.h. Referenced by GenerateJointEquations(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateJointSolution(), GetJointDOF(), GetJointDOFValues(), GetJointName(), GetJointRangeN(), GetJointRangeTopology(), GetJointTransform(), GetJointTransSeq(), NewInPatchJoint(), PrintJoint(), RegenerateJointBox(), and RegenerateJointSolution(). Function Documentation
Defines a free joint between links. A free joint is a dummy joint imposing no constraint between the relative movements of the links. It is used to see a different free flying mechanisms as a single mechanism. This basically simplify the structures we use (we don't have to implement a multi-mechanism stucture, for instance) and the generation of equations from the mechanism definition can be easily implemented with a single ground link. Up to now we hardly used/tested this type of joints.
Definition at line 101 of file joint.c. References FREE_JOINT, INF, InitJoint(), and Tjoint::maxCoord. Referenced by GenerateKinTree(), and main().
Defines a fix joint between links. A fix joint fixes the relative translation and orientation between two links. Fix joints are typically used when placing the end effector of a robot to compute its inverse kinematics.
Definition at line 110 of file joint.c. References FIX_JOINT, HTransformCopy(), HTransformGetElement(), InitJoint(), Tjoint::maxCoord, Norm(), Tjoint::points, and Tjoint::preT. Referenced by main().
Defines a new revolute joint between two links. Note that we assume centered rotations, that is, if there is any limit in the rotation it is always in the for of a symmetric interval [-range,range]. This is completely general (by defining appropriate reference vectors the rotation range can be made symmetric around 0 and it helps when defining constraints.
Definition at line 132 of file joint.c. References ADJUST_REAL, Tjoint::avoidLimits, Tjoint::avoidLimitsWeight, CopyInterval(), Tjoint::coupled, CrossProduct(), DefineNormalVector(), Error(), FALSE, Tjoint::hasLimits, HTransformApply(), HTransformDelete(), HTransformFromVectors(), HTransformInverse(), HTransformProduct(), HTransformRx(), HTransformX2Vect(), InitJoint(), IntervalCenter(), IntervalOffset(), IntervalSize(), Tjoint::maxCoord, Norm(), Tjoint::normals, Tjoint::offset, Tjoint::points, Tjoint::postT, Tjoint::preT, Tjoint::range, REP_JOINTS, REV_JOINT, Tjoint::t, Tjoint::vrange, and ZERO. Referenced by InitWorldFromMolecule(), and main().
Defines a new universal joint between two links.
Definition at line 288 of file joint.c. References ADJUST_REAL, Tjoint::avoidLimits, Tjoint::avoidLimitsWeight, CopyInterval(), CrossProduct(), DefineNormalVector(), Error(), FALSE, Tjoint::hasLimits, HTransformApply(), HTransformDelete(), HTransformFromVectors(), HTransformInverse(), HTransformProduct(), HTransformRx(), HTransformX2Vect(), InitJoint(), IntervalCenter(), IntervalOffset(), IntervalSize(), Tjoint::maxCoord, Norm(), Tjoint::normals, Tjoint::offset, Tjoint::offset2, Tjoint::points, Tjoint::postT, Tjoint::preT, Tjoint::range, Tjoint::range2, REP_JOINTS, UNV_JOINT, Tjoint::vrange, and ZERO.
Defines a new spherical joint between two links. The limits for a spherical joint are defined symmetrically around an axis rigidly linked to the first link.
Definition at line 452 of file joint.c. References ADJUST_REAL, Tjoint::avoidLimits, Tjoint::avoidLimitsWeight, Error(), FALSE, Tjoint::hasLimits, HTransformInverse(), HTransformProduct(), HTransformTxyz(), HTransformX2Vect(), InitJoint(), IntervalSize(), Tjoint::maxCoord, NewInterval(), Norm(), Tjoint::offset, Tjoint::points, Tjoint::postT, Tjoint::preT, Tjoint::range, SPH_JOINT, Tjoint::vrange, and ZERO.
Defines a new prismatic joint between two links. Note that prismatic joints are always limited. IMPORTANT: We assume that reference frames for the two links connected by a prismatic joint are aligned (the XYZ axis are parallel and just displaced).
Definition at line 541 of file joint.c. References ADJUST_REAL, Tjoint::avoidLimits, Tjoint::avoidLimitsWeight, CopyInterval(), Error(), Tjoint::hasLimits, HTransformInverse(), HTransformTxyz(), InitJoint(), IntervalSize(), Tjoint::maxCoord, Norm(), Tjoint::normals, Tjoint::points, Tjoint::postT, Tjoint::preT, PRS_JOINT, Tjoint::range, TRUE, and ZERO. Referenced by main().
Defines a new spherical-spherical composite joint between two links.
Definition at line 609 of file joint.c. References ADJUST_REAL, Tjoint::color, CopyColor(), HTransformInverse(), HTransformTxyz(), InitJoint(), Tjoint::length, Tjoint::maxCoord, Norm(), Tjoint::points, Tjoint::postT, Tjoint::preT, Tjoint::rad, and SPH_SPH_JOINT.
Defines a new spherical-prismatic-spherical composite joint between two links.
Definition at line 652 of file joint.c. References ADJUST_REAL, Tjoint::color, CopyColor(), CopyInterval(), Error(), HTransformInverse(), HTransformTxyz(), InitJoint(), IntervalSize(), Tjoint::length, LowerLimit(), Tjoint::maxCoord, Norm(), Tjoint::offset, Tjoint::points, Tjoint::postT, Tjoint::preT, Tjoint::rad, Tjoint::range, and SPH_PRS_SPH_JOINT.
Defines a new in-patch joint between two links. An in-patch joint is a generalization of a planar joint where the plane is replaced by a order one Bezier patch. This patch is defined by 4 points. When the four points are coplanar this joint is a planar joint. This type of joints are basically used to define contact between links.
Definition at line 709 of file joint.c. References ADJUST_REAL, Tjoint::avoidLimits, Tjoint::avoidLimitsWeight, CrossProduct(), DotProduct(), Error(), Tjoint::hasLimits, HTransformIdentity(), HTransformX2Vect(), IN_PATCH_JOINT, InitJoint(), IntervalAdd(), IntervalScale(), IntervalSqrt(), Tjoint::maxCoord, NewInterval(), Norm(), Tjoint::normals, Tjoint::normRange, Tjoint::points, Tjoint::postT, Tjoint::preT, Tjoint::range, Tjoint::range2, TRUE, and ZERO. Defines a joint structure copying data from anther joint.
Definition at line 873 of file joint.c. References Tjoint::avoidLimits, Tjoint::avoidLimitsWeight, Tjoint::color, CopyColor(), CopyInterval(), Tjoint::coupled, Tjoint::hasLimits, HTransformCopy(), Tjoint::id, Tjoint::length, Tjoint::link, Tjoint::linkID, Tjoint::maxCoord, Tjoint::normals, Tjoint::normRange, Tjoint::obj3d, Tjoint::offset, Tjoint::offset2, Tjoint::points, Tjoint::postT, Tjoint::preT, Tjoint::rad, Tjoint::range, Tjoint::range2, Tjoint::t, and Tjoint::vrange. Referenced by AddJoint2Mechanism().
Gets the joint type.
Definition at line 931 of file joint.c. References Tjoint::t. Referenced by AllRevolute(), and IsRevoluteBinaryLink().
Gets the joint identifier (given to the joint when created).
Definition at line 936 of file joint.c. References Tjoint::id. Referenced by GetTransformFromBranch().
Gets the identifier of the first link involved in the joint.
Definition at line 941 of file joint.c. References Tjoint::linkID. Referenced by Branches2Links(), GenerateKinTree(), GetBranchDestination(), GetBranchOrigin(), GetLinkTransformsFromDOF(), GetMechanismDOFsFromTransforms(), IsRevoluteBinaryLink(), MoveMechanismFromTransforms(), and WorldDOF2Sol(). Gets a pointer to the first link involved in the joint.
Definition at line 946 of file joint.c. References Tjoint::link.
Gets the identifier of the second link involved in the joint.
Definition at line 951 of file joint.c. References Tjoint::linkID. Referenced by Branches2Links(), GenerateKinTree(), GetBranchDestination(), GetBranchOrigin(), GetLinkTransformsFromDOF(), GetMechanismDOFsFromTransforms(), IsRevoluteBinaryLink(), MoveMechanismFromTransforms(), and WorldDOF2Sol(). Gets a pointer to the second link involved in the joint.
Definition at line 956 of file joint.c. References Tjoint::link.
Returns a string identifying the type of joint and the connected links. This is basically used for interface.
Definition at line 961 of file joint.c. References Error(), FIX_JOINT, FREE_JOINT, GetLinkName(), IN_PATCH_JOINT, Tjoint::link, NEW, PRS_JOINT, REV_JOINT, SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, Tjoint::t, and UNV_JOINT. Referenced by GetWorldDOFLabel(), and GetWorldJointLabel(). Returns TRUE the bodies in the joint, if any, are all spheres. Joints typically do not include any body, but if they do, this functions identifies if they are spheres (typically they are not).
Definition at line 1004 of file joint.c. References SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, and Tjoint::t. Referenced by AddJoint2Mechanism().
Gets one of the points defining the rotation/sliding axis for the joint.
Definition at line 1012 of file joint.c. References Tjoint::points. Referenced by IsRevoluteBinaryLink(). Checks if a joint has limits.
Definition at line 1022 of file joint.c. References Tjoint::hasLimits. Checks the limits of a joint.
Definition at line 1027 of file joint.c. References Tjoint::range. Checks the second limit of a universal joint. Only universal joints have a second range.
Definition at line 1032 of file joint.c. References Tjoint::range2. Returns the ranges for one of the degrees of freedom of the joint.
Definition at line 1037 of file joint.c. References CopyInterval(), Error(), FIX_JOINT, FREE_JOINT, Tjoint::hasLimits, IN_PATCH_JOINT, IntervalOffset(), M_PI, NewInterval(), Tjoint::offset, Tjoint::offset2, PRS_JOINT, Tjoint::range, Tjoint::range2, REV_JOINT, SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, Tjoint::t, and UNV_JOINT. Referenced by GenerateJointEquations(), and GetWorldRangeDOF().
Returns the topology of one of the degrees of freedom of the joint.
Definition at line 1137 of file joint.c. References Error(), FIX_JOINT, FREE_JOINT, IN_PATCH_JOINT, PRS_JOINT, REV_JOINT, SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, Tjoint::t, TOPOLOGY_R, TOPOLOGY_S, and UNV_JOINT. Referenced by GenerateJointEquations(), and WorldDOF2Sol().
Returns the identifier of the joint coupled with the query joint. Note that up to now we have a very limited implementation of the coupling between joints: Only revolute joints (with limits) can be coupled and always with a 1 to 1 relation. If we have a pair of joints coupled (j1,j2) with j1 having a lower identifier than j2 (i.e., appearing before in the mechanism definition), this function only returns something different from NO_UINT for j2. In other words, the function only identifies the coupled but not the original joint.
Definition at line 1216 of file joint.c. References Tjoint::coupled, and NO_UINT. Referenced by WorldInitDOFInfo().
Computes the degrees of freedom allowed by a given joint. The degrees of freedom constrained by the joint are 6-the allowed ones (i.e., the returned by this function.
Definition at line 1224 of file joint.c. References Tjoint::coupled, Error(), FIX_JOINT, FREE_JOINT, IN_PATCH_JOINT, PRS_JOINT, REV_JOINT, SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, Tjoint::t, and UNV_JOINT. Referenced by GenerateJointEquations(), GetMechanismDOFsFromTransforms(), GetMechanismMobility(), GetWorldDOFLabel(), MoveMechanismFromTransforms(), and WorldInitDOFInfo().
Returns the distance between the two spherical joints in a spherical-spherical joint. For other types of joints this function triggers and error.
Definition at line 1268 of file joint.c. References Error(), Tjoint::length, SPH_SPH_JOINT, and Tjoint::t.
Workspace boundaries are detected as singularities. Here we introduce some changes in the range variables so that we force a singularity in the extremes of the ranges for the joints.
Definition at line 1276 of file joint.c. References AddCt2Monomial(), AddEquation2CS(), AddMonomial(), AddVariable2CS(), AddVariable2Monomial(), COS_VAR, COS_VAR_SING, COS_VAR_UNI, COS_VAR_UNI_SING, CT_REPRESENTATION, DeleteEquation(), DeleteMonomial(), DeleteVariable(), EQU, Error(), GetCSVariableID(), GetLinkName(), GetParameter(), Tjoint::hasLimits, Tjoint::id, IN_PATCH_JOINT, IN_PATCH_JOINT_CTRL_VAR, IN_PATCH_JOINT_CTRL_VAR_SING_COS, IN_PATCH_JOINT_CTRL_VAR_SING_SIN, InitEquation(), InitMonomial(), Tjoint::link, LowerLimit(), NEW, NewInterval(), NewVariable(), NFUN, NO_UINT, PRS_JOINT, PRS_JOINT_VAR, PRS_JOINT_VAR_SING_COS, PRS_JOINT_VAR_SING_SIN, Tjoint::range, Tjoint::range2, REP_JOINTS, ResetEquation(), ResetMonomial(), REV_JOINT, SetEquationCmp(), SetEquationType(), SetEquationValue(), SetVariableInterval(), SPH_JOINT, SPH_PRS_SPH_JOINT, SYSTEM_EQ, SYSTEM_VAR, Tjoint::t, UNV_JOINT, and UpperLimit(). Referenced by GenerateWorldSingularityEquations().
Adds to the given cuiksystem the variables and equations necessary to deal with the joint ranges. For prismatic joints this is one variable and its associated range. For revolute joints, we have to define two vectors one associted with link1 and the other link2 and define the scalar and vector products (this produces a third vector aligned with the rotation axis) to get the cosinus/sinus of the rotated angle that are then bounded given the range for the allowed rotation between the two links.
Definition at line 1463 of file joint.c. References AddCt2Monomial(), AddEquation2CS(), AddMonomial(), AddTerm2SearchCriterion(), AddVariable2CS(), AddVariable2Monomial(), ApplyLinkRot(), Tjoint::avoidLimits, Tjoint::avoidLimitsWeight, COS_VAR, COS_VAR_UNI, Tjoint::coupled, CT_REPRESENTATION, DeleteEquation(), DeleteInterval(), DeleteMonomial(), DeleteVariable(), EQU, Error(), FIX_JOINT, FREE_JOINT, GenerateDotProductEquation(), GetCSVariableID(), GetLinkName(), GetParameter(), Tjoint::hasLimits, Tjoint::id, IN_PATCH_JOINT, IN_PATCH_JOINT_CTRL_VAR, INF, InitEquation(), InitMonomial(), IntervalCenter(), IntervalCosine(), IntervalSize(), IsGroundLink, Tjoint::link, Tjoint::linkID, NEW, NewInterval(), NewVariable(), NFUN, NO_UINT, PRS_JOINT, PRS_JOINT_VAR, Tjoint::range, Tjoint::range2, REP_JOINTS, ResetMonomial(), REV_JOINT, ROT_JOINT_VAR_REF, SECONDARY_VAR, SetEquationCmp(), SetEquationType(), SetEquationValue(), SetVariableInterval(), SPH_JOINT, SPH_JOINT_VAR_REF, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, SYSTEM_EQ, SYSTEM_VAR, Tjoint::t, UNV_JOINT, UNV_JOINT_VAR, UNV_JOINT_VAR_REF, and Tjoint::vrange. Referenced by InitWorldKinCS().
Adds to the given equations the constraints of a joint Before using this method, the variables and equations for individual joints have to be generated (using GenerateJointEquations). When considered in a sequence, joints define a sum of vectors taking from the origin of the frame of reference of one link to the origin of the frame of reference for the next link. When these sums are taken on a closed branch, we get the loop equations. Since links and joints are defined in 3D, summing vectors defined on links and joints define 3 equations, one for X, one for Y, and another for Z.
Definition at line 1755 of file joint.c. References AddCt2Monomial(), AddMonomial(), AddVariable2Monomial(), ApplyLinkRot(), CT_REPRESENTATION, DeleteMonomial(), Error(), FIX_JOINT, FREE_JOINT, FREE_JOINT_VAR, GetCSVariableID(), GetLinkName(), GetParameter(), Tjoint::id, IN_PATCH_JOINT, IN_PATCH_JOINT_CTRL_VAR, InitMonomial(), IsGroundLink, Tjoint::length, Tjoint::link, Tjoint::linkID, NEW, NFUN, NO_UINT, Tjoint::normals, Tjoint::points, PRS_JOINT, PRS_JOINT_VAR, REP_JOINTS, ResetMonomial(), REV_JOINT, SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, SPH_SPH_JOINT_VAR, Tjoint::t, and UNV_JOINT. Referenced by GenerateTransEquationsFromBranch().
Adds to the given cuiksystem the variables and equations necessary to deal with the joint. Intutively, we have to add equations so that the revolute/sliding axis is the same as view from link1 and from link2.
Definition at line 1920 of file joint.c. References AddCt2Monomial(), AddEquation2CS(), AddMonomial(), AddVariable2CS(), AddVariable2Monomial(), ApplyLinkRot(), CT_REPRESENTATION, DeleteEquation(), DeleteInterval(), DeleteMonomial(), DeleteVariable(), DOF_VAR, DotProduct(), DUMMY_VAR, EQU, Error(), FIX_JOINT, FREE_JOINT, FREE_JOINT_VAR, GenerateDotProductEquation(), GenerateNormEquation(), GenerateSaddleEquation(), GetJointDOF(), GetJointRangeN(), GetJointRangeTopology(), GetLinkName(), GetParameter(), HTransformGetElement(), Tjoint::id, IN_PATCH_JOINT, IN_PATCH_JOINT_CTRL_VAR, IN_PATCH_JOINT_SCALE_VAR, InitEquation(), InitMonomial(), IsGroundLink, Tjoint::link, Tjoint::linkID, NEW, NewInterval(), NewVariable(), NFUN, NO_UINT, Tjoint::normals, Tjoint::normRange, Tjoint::points, Tjoint::preT, PRS_JOINT, REP_JOINTS, ResetMonomial(), REV_JOINT, SECONDARY_VAR, SetEquationCmp(), SetEquationType(), SetEquationValue(), SetVariableInterval(), SetVariableTopology(), SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, SPH_SPH_JOINT_VAR, SYSTEM_EQ, SYSTEM_VAR, Tjoint::t, TOPOLOGY_S, UNV_JOINT, and UNV_JOINT_VAR. Referenced by InitWorldKinCS().
Solution points only include values for the system variables (and secondary). However, in some formulations, the frame joint equations use not only system/secondary variables, but dummy variable too. This function computes the values for the joint-related dummy variables form the non-dummy ones for a given joint. Currently only the IN_PATCH_JOINT uses dummy variables but this can change in the future.
Definition at line 2256 of file joint.c. References CT_REPRESENTATION, GetCSVariableID(), GetLinkName(), GetParameter(), Tjoint::id, IN_PATCH_JOINT, IN_PATCH_JOINT_CTRL_VAR, Tjoint::link, NEW, REP_JOINTS, and Tjoint::t. Referenced by RegenerateMechanismSolution().
This is the same as RegenerateJointSolution but working on solution boxes instead of on solution points (i.e. it is interval-based instead of floating point based)
Definition at line 2292 of file joint.c. References CT_REPRESENTATION, GetBoxInterval(), GetCSVariableID(), GetLinkName(), GetParameter(), Tjoint::id, IN_PATCH_JOINT, IN_PATCH_JOINT_CTRL_VAR, IntervalProduct(), Tjoint::link, NEW, REP_JOINTS, SetBoxInterval(), and Tjoint::t. Referenced by RegenerateMechanismBox().
Generates the joint related variables in a solution from the homogeneous transforms of the two links involved in the joint and the values of the degrees of freedom for this joint. This is part of the mechanism to transform from dof information to a solution point in the cuik form (so that in can be plotted, etc). This is transforms2samples, but using the dofs to facilitate the computations. Actually the dofs could be computed from the transforms using GetJointTransform but having them facilitates the computation (see GetLinkTransformsFromSolution for the inverse operation, i.e samples2transforms). Since the dofs are finally (marginally) used, this can also be seen as dof2samples (see GetJointDOFValues for the inverse). The rest of the dof2samples is implemented in GenerateLinkSolution.
Definition at line 2330 of file joint.c. References COS_VAR, COS_VAR_UNI, CT_REPRESENTATION, DifferenceVector(), DotProduct(), Error(), FIX_JOINT, FREE_JOINT, FREE_JOINT_VAR, GetCSVariableID(), GetLinkName(), GetParameter(), Tjoint::hasLimits, HTransformApply(), HTransformApplyRot(), Tjoint::id, IN_PATCH_JOINT, IN_PATCH_JOINT_CTRL_VAR, IN_PATCH_JOINT_SCALE_VAR, Tjoint::link, Tjoint::linkID, NEW, NO_UINT, Normalize(), Tjoint::normals, Tjoint::points, PRS_JOINT, PRS_JOINT_VAR, REP_JOINTS, REV_JOINT, ROT_JOINT_VAR_REF, SPH_JOINT, SPH_JOINT_VAR_REF, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, SPH_SPH_JOINT_VAR, Tjoint::t, UNV_JOINT, UNV_JOINT_VAR, UNV_JOINT_VAR_REF, and Tjoint::vrange. Referenced by WorldDOF2Sol().
Computes the homogeneous trasform taking from the first link involved in the joint to the second link, considering a given value for the degrees of freedom of the joint. This is the dof2transforms (see GetJointDOFValues for the inverse).
Definition at line 2527 of file joint.c. References CrossProduct(), Error(), FIX_JOINT, FREE_JOINT, HTransformAcumRot(), HTransformCopy(), HTransformDelete(), HTransformFromVectors(), HTransformInverse(), HTransformProduct(), HTransformRx(), HTransformRy(), HTransformRz(), HTransformTx(), HTransformTxyz(), IN_PATCH_JOINT, Tjoint::length, M_PI, Normalize(), Tjoint::normals, Tjoint::points, Tjoint::postT, Tjoint::preT, PRS_JOINT, REV_JOINT, RX, RZ, SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, SumVectorScale(), Tjoint::t, and UNV_JOINT. Referenced by GetLinkTransformsFromDOF().
Recovers the joint DOFs given the poses of the two links connected by the joint. This function recovers the joint parameters such that t2=t1*T where T is the transform sequence resulting from GetJointTransSeq. This is the transforms2dof (the inverse of GetJointTransform) Since the transforms are computed from samples, this is also samples2dof, i.e., the inverse of GenerateJointSolution + GenerateLinkSolution. Note that dofs are only associated with joints and, thus there is no need for a GetLinkDOFValues to complete the inverse.
Definition at line 2644 of file joint.c. References AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, Tjoint::coupled, CrossProduct(), Det2x2(), Det3x3(), DifferenceVector(), DotProduct(), Error(), FIX_JOINT, FREE_JOINT, GetYawPitchRoll(), HTransformApply(), HTransformCopy(), HTransformDelete(), HTransformFromVectors(), HTransformGetElement(), HTransformInverse(), HTransformProduct(), HTransformSetElement(), HTransformTx(), HTransformX2Vect(), IN_PATCH_JOINT, Norm(), Normalize(), Tjoint::normals, Tjoint::points, Tjoint::postT, Tjoint::preT, PRS_JOINT, REV_JOINT, SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, SumVectorScale(), Tjoint::t, UNV_JOINT, and ZERO. Referenced by GetMechanismDOFsFromTransforms(), and MoveJointFromTransforms().
Build the sequence of transforms taking from one link to the next via the joint.
Definition at line 2895 of file joint.c. References AddCtTrans2TransSeq(), AddDispTrans2TransSeq(), AddPatchTrans2TransSeq(), AddVarTrans2TransSeq(), Tjoint::coupled, CT_REPRESENTATION, DOF_VAR, Error(), FIX_JOINT, FREE_JOINT, GetCSVariableID(), GetLinkName(), GetParameter(), HTransformRx2(), HTransformRz2(), HTransformTx(), Tjoint::id, IN_PATCH_JOINT, InitTransSeq(), Tjoint::length, Tjoint::link, NEW, NO_UINT, Tjoint::normals, PA, Tjoint::points, Tjoint::postT, Tjoint::preT, PRS_JOINT, REP_JOINTS, REV_JOINT, RX, RY, RZ, SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, SumVector(), Tjoint::t, TX, and UNV_JOINT. Referenced by GenerateMEquationFromBranch().
Returns the maximum coordinate value for all the objects in the joint. Only spherical-spherical joints have an associated object. In this case the function returns the length of the link in between the two spherical joints. Otherwise this function returns 0.
Definition at line 3130 of file joint.c. References Tjoint::maxCoord. Referenced by AddJoint2Mechanism(). Adds a link to a 3d scene. Nothing is added for all joints but for spherical-spherical joints where we add a cylinder aligned with the X axis.
Definition at line 3135 of file joint.c. References Close3dObject(), Tjoint::color, CopyColor(), DeleteColor(), IntervalSize(), Tjoint::length, LowerLimit(), NO_UINT, Tjoint::obj3d, PlotCylinder(), PlotSphere(), Tjoint::rad, Tjoint::range, ScaleColor(), SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, StartNew3dObject(), and Tjoint::t. Referenced by PlotMechanism().
Displaces a joint previously added to a 3d scene. Actually, only in the case of composite joints (spherical-spherical joints) there is an effect for this function. Composite joints (spherical-spherical joints) generate a cylinder connecting the two spherical joints. This function moves this cylinder to the position given by the start-end points of the spherical-spherical joint extracted from the link definitions, the link translation equations, and the link rotation matrixes taken from the given solution point. Note that the rotation around the principal axis of the cylinder does not matters, that is the effect of a spherical-spherical joint.
Definition at line 3199 of file joint.c. References DifferenceVector(), GetJointDOFValues(), HTransformAcumRot2(), HTransformAcumTrans(), HTransformApply(), HTransformDelete(), HTransformProduct(), HTransformX2Vect(), Move3dObject(), Norm(), Tjoint::obj3d, Tjoint::offset, Tjoint::points, Tjoint::preT, RY, RZ, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, SumVectorScale(), and Tjoint::t. Referenced by MoveMechanismFromTransforms().
Print a point and a vector for the joint axis. This is latter used to generate the Jacobian of the mechanism at a given point.
Definition at line 3271 of file joint.c. References Error(), FREE_JOINT, GetTransform2Link(), HTransformApply(), HTransformApplyRot(), IsGroundLink, Tjoint::link, Tjoint::linkID, Tjoint::normals, Tjoint::points, PRS_JOINT, REV_JOINT, Tjoint::t, and UNV_JOINT. Referenced by PrintWorldAxes().
Stores the joint information into a file in the format valid to be read by InitWorldFromFile.
Definition at line 3310 of file joint.c. References Tjoint::avoidLimits, Tjoint::color, Error(), FIX_JOINT, FREE_JOINT, GetBlue(), GetGreen(), GetLinkName(), GetRed(), Tjoint::hasLimits, HTransformPrettyPrint(), IN_PATCH_JOINT, Tjoint::length, Tjoint::link, Tjoint::points, Tjoint::preT, PrintInterval(), PRS_JOINT, Tjoint::rad, Tjoint::range, Tjoint::range2, REV_JOINT, SPH_JOINT, SPH_PRS_SPH_JOINT, SPH_SPH_JOINT, SumVector(), Tjoint::t, UNV_JOINT, and Tjoint::vrange. Referenced by PrintMechanism().
Deletes the information stored in a joint and frees the allocated memory.
Definition at line 3461 of file joint.c. References Tjoint::color, DeleteColor(), DeleteInterval(), HTransformDelete(), Tjoint::postT, Tjoint::preT, Tjoint::range, and Tjoint::range2. Referenced by DeleteMechanism(), GenerateKinTree(), InitWorldFromMolecule(), and main(). |
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