Go to the documentation of this file.
17 package com.generalrobotix.ui.view.tdview;
19 import javax.media.j3d.Transform3D;
20 import javax.media.j3d.TransformGroup;
21 import javax.vecmath.*;
41 private LinkPosition
tr;
53 tr =
new LinkPosition();
72 }
else if(
robot_ != model) {
81 Transform3D
tr =
new Transform3D();
100 }
else if(
robot_ != model) {
120 Transform3D t3d =
new Transform3D();
121 tg.getTransform(t3d);
122 Vector3d pos =
new Vector3d();
123 Matrix3d mat =
new Matrix3d();
126 double[]
value =
new double[12];
144 integrator_.calcCharacterForwardKinematics(objectName);
155 public boolean resolve(Transform3D transform) {
158 Matrix3d m3d =
new Matrix3d();
159 Vector3d v3d =
new Vector3d();
160 transform.get(m3d, v3d);
163 for (
int i=0;
i<3;
i++) {
164 for (
int j=0; j<3; j++) {
165 tr.R[3*
i+j] = m3d.getElement(
i,j);
173 System.out.println(
"ik failed.");
177 }
catch (Exception e) {
181 DblSequenceHolder v =
new DblSequenceHolder();
193 Transform3D t3d =
new Transform3D();
196 Transform3D t3dFromNew =
new Transform3D();
197 from_.
tg_.getLocalToVworld(t3dFromNew);
201 Transform3D t3dRoot =
new Transform3D();
206 Matrix3d rot =
new Matrix3d();
207 Vector3d pos =
new Vector3d();
boolean setFromJoint(GrxModelItem model, GrxLinkItem link)
void setJointValues(final double[] values)
set joint values
double[] getJointValues()
void _setRootJoint(GrxModelItem robot)
void updateInitialJointValues()
boolean resolve(Transform3D transform)
void setTransformRoot(Vector3d pos, Matrix3d rot)
set transformation of the root joint
void setDynamicsSimulator(DynamicsSimulator integrator)
void _setLinkStatus(String objectName)
InvKinemaResolver(GrxPluginManager manager)
void updateInitialTransformRoot()
update initial transformation property from current Transform3D
void setJointValuesWithinLimit()
modify joint value if it exceeds limit values
final String getName()
get name
void calcForwardKinematics()
compute forward kinematics
プラグイン管理クラス GrxUIの核になるクラス。プラグインのロード等の、初期化を実行する。 プラグインとそのアイテムのマップ(::pluginMap_)、プラグインとその情報のマップ(::pinfoM...
boolean setToJoint(GrxModelItem model, GrxLinkItem link)
GrxLinkItem rootLink()
get root link
item corresponds to a robot model
GrxPluginManager manager_
GrxBaseItem getItem(Class<? extends GrxBaseItem > cls, String name)
DynamicsSimulator integrator_
TransformGroup getTransformGroupRoot()
openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:03