public class InverseKinematics3D extends Service implements IKJointAnglePublisher, PointsListener
Modifier and Type | Class and Description |
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class |
InverseKinematics3D.InputTrackingThread |
Modifier and Type | Field and Description |
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static org.slf4j.Logger |
log |
cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML
Constructor and Description |
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InverseKinematics3D(java.lang.String n) |
Modifier and Type | Method and Description |
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void |
centerAllJoints() |
Matrix |
createInputMatrix(double dx,
double dy,
double dz,
double roll,
double pitch,
double yaw)
This create a rotation and translation matrix that will be applied on the
"moveTo" call.
|
double[][] |
createJointPositionMap() |
Point |
currentPosition() |
DHRobotArm |
getCurrentArm() |
static ServiceType |
getMetaData()
This static method returns all the details of the class without it having
to be constructed.
|
static void |
main(java.lang.String[] args) |
void |
moveTo(double x,
double y,
double z) |
void |
moveTo(Point p) |
void |
onJoystickInput(JoystickData input) |
void |
onPoints(java.util.List<Point> points) |
java.util.Map<java.lang.String,java.lang.Double> |
publishJointAngles(java.util.HashMap<java.lang.String,java.lang.Double> angleMap) |
double[][] |
publishJointPositions(double[][] jointPositionMap) |
void |
publishTelemetry() |
Point |
publishTracking(Point tracking) |
Point |
rotateAndTranslate(Point pIn) |
void |
setCurrentArm(DHRobotArm currentArm) |
void |
startTracking() |
void |
stopTracking() |
addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, startService, stopHeartbeat, stopMsgRecording, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
getName
getName
public void startTracking()
public void stopTracking()
public Point currentPosition()
public void moveTo(double x, double y, double z)
public Matrix createInputMatrix(double dx, double dy, double dz, double roll, double pitch, double yaw)
dx
- - x axis translationdy
- - y axis translationdz
- - z axis translationroll
- - rotation about z (in degrees)pitch
- - rotation about x (in degrees)yaw
- - rotation about y (in degrees)public void centerAllJoints()
public void moveTo(Point p)
public void publishTelemetry()
public double[][] createJointPositionMap()
public DHRobotArm getCurrentArm()
public void setCurrentArm(DHRobotArm currentArm)
public static void main(java.lang.String[] args) throws java.lang.Exception
java.lang.Exception
public java.util.Map<java.lang.String,java.lang.Double> publishJointAngles(java.util.HashMap<java.lang.String,java.lang.Double> angleMap)
publishJointAngles
in interface IKJointAnglePublisher
public double[][] publishJointPositions(double[][] jointPositionMap)
public void onPoints(java.util.List<Point> points)
onPoints
in interface PointsListener
public void onJoystickInput(JoystickData input)
public static ServiceType getMetaData()