org.myrobotlab.service

Class InverseKinematics3D

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.InverseKinematics3D

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, IKJointAnglePublisher, PointsListener, QueueReporter

public class InverseKinematics3D
extends Service
implements IKJointAnglePublisher, PointsListener

InverseKinematics3D - This class provides a 3D based inverse kinematics implementation that allows you to specify the robot arm geometry based on DH Parameters. This will use a pseudo-inverse jacobian gradient descent approach to move the end affector to the desired x,y,z postions in space with respect to the base frame. Rotation and Orientation information is not currently supported. (but should be easy to add)

Author:

kwatters

See Also:

Serialized Form

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	InverseKinematics3D.InputTrackingThread

Field Summary

Fields

Modifier and Type	Field and Description
static org.slf4j.Logger	log

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
InverseKinematics3D(java.lang.String n)

Method Summary

Modifier and Type	Method and Description
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()

Methods inherited from class org.myrobotlab.framework.Service

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

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.myrobotlab.service.interfaces.IKJointAnglePublisher

getName

Methods inherited from interface org.myrobotlab.service.interfaces.PointsListener

getName

Field Detail

log

public static final org.slf4j.Logger log

Constructor Detail

InverseKinematics3D

public InverseKinematics3D(java.lang.String n)

Method Detail

startTracking

public void startTracking()

stopTracking

public void stopTracking()

currentPosition

public Point currentPosition()

moveTo

public void moveTo(double x,
                   double y,
                   double z)

createInputMatrix

public 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.

Parameters:

dx - - x axis translation

dy - - y axis translation

dz - - z axis translation

roll - - rotation about z (in degrees)

pitch - - rotation about x (in degrees)

yaw - - rotation about y (in degrees)

Returns:

a matric that represents the rotation/translation matrix

rotateAndTranslate

public Point rotateAndTranslate(Point pIn)

centerAllJoints

public void centerAllJoints()

moveTo

public void moveTo(Point p)

publishTelemetry

public void publishTelemetry()

createJointPositionMap

public double[][] createJointPositionMap()

getCurrentArm

public DHRobotArm getCurrentArm()

setCurrentArm

public void setCurrentArm(DHRobotArm currentArm)

main

public static void main(java.lang.String[] args)
                 throws java.lang.Exception

Throws:

java.lang.Exception

publishJointAngles

public java.util.Map<java.lang.String,java.lang.Double> publishJointAngles(java.util.HashMap<java.lang.String,java.lang.Double> angleMap)

Specified by:

publishJointAngles in interface IKJointAnglePublisher

publishJointPositions

public double[][] publishJointPositions(double[][] jointPositionMap)

publishTracking

public Point publishTracking(Point tracking)

onPoints

public void onPoints(java.util.List<Point> points)

Specified by:

onPoints in interface PointsListener

onJoystickInput

public void onJoystickInput(JoystickData input)

getMetaData

public static ServiceType getMetaData()

This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.

Returns:

ServiceType - returns all the data