shady.common.multi.chain.Block
shady.common.multi.chain.TowerBlock
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java.lang.Object
public class TowerBlock
Controller for a block in the original MultiShady tower.
This implementation is not a direct translation of the original scheme implementation, some details are different.
The block is composed of five MemberShadys (M[0..4]) and four segments
(S[0..3]), all of length SL:
r-----------S1-----------l-----------M2-----------r-----------S2-----------l
\ /
M1 M3
\ /
l r
\ /
S0 S3
\ /
r l
\ /
M0 M4
\ /
l r
Below is configuration when it is bent with some angles labeled. See
shady.sim.ui.multi.block-bend.fig for a fully labeled version of
this figure.
---------------
----------------------- d /
--------------------- /
---------- /
\ c /
\ /
\ /
b| /
| /
| /
b/ /
/ /
/ a e/
Angles and lengths in the figure are not precise, but illustrate that,
in nominal pose (DOF = 0.0), the block is a symmetric open trapezoid whose
leg endpoints coincide vertically with the midpoints of S1 and S2. The
end-frame origin is at the midpoint of M2, the end-frame x-axis coincides
with the body vector (vector from l to r barrel) of M2, and the end-frame
y-axis points up. The orientations of all members and segments in the block
form a clockwise head-to-tail chain starting at the free end of the left leg
and ending at the free end of the right leg.
The top of the block is treated as a rigid segment, the distance between the leg endpoints is held fixed (CC+2SL), and the legs are abstracted as linear actuators. At least one leg is fully extended at all times: for DOF in the range [-1.0,0.0) this is the right leg, and the block tilts to the left; for DOF in the range (0.0,1.0] the left leg is fully extended and the block tilts to the right. The length of the shortened leg is proportional to the DOF, and the total pose of the block is fully constrained by assuring that the lower angle on the fully extended leg is fixed. Additionally, the bend in the bent leg is fully constrained by assuring that the angles formed between the member shadys and the muntin between them are equal (defined as "b").
Copyright (C) 2006 Marsette A. Vona, III
This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
| Field Summary | |
|---|---|
static double |
BLOCK_LOWER_ANGLE
The lower angles in the nominal pose. |
static double |
BLOCK_UPPER_ANGLE
The upper angles in the nominal pose. |
static double |
BOTTOM
The length of the BOTTOM of the block: 2.0*SL+CC |
static double |
CC
The length of each shady. |
private static java.lang.String |
cvsid
CVS id. |
static double |
DPART
Defined in shady.sim.ui.multi.block-bend.fig. |
protected Point.OnSegment |
eePoint
The end-effector point, which is at 0.5 along the body segment of member 2. |
static double |
LEG_MAX
The maximum length of both legs in the tower. |
static double |
LEG_MIN
The minimum length of both legs in the tower. |
static double |
M3L_X
The x coordinate of the left gripper of the M3 shady in the nominal pose. |
static double |
M3L_Y
The y coordinate of the left gripper of the M3 shady in the nominal pose. |
static int |
NUM_MEMBERS
Number of member shadys in this tower block. |
static int |
NUM_SEGMENTS
Number of segments in this tower block. |
static double |
OTHER_DIAG
Defined in shady.sim.ui.multi.block-bend.fig. |
static double |
SL
The length of each muntin segment used in this tower block. |
static double |
THETA_MAX_ABS
The absolute value of the maximum possible tilt angle. |
static double |
TOP
The length of the top of the block: 2.0*SL+CC |
| Fields inherited from class shady.common.multi.chain.Block |
|---|
dof, leftBarrel, locked, memberStartIndex, multiEnvironment, multiShady, next, numMembers, numSegments, previous, rightBarrel, segmentStartIndex, sentinel, transform |
| Constructor Summary | |
|---|---|
TowerBlock(MultiShadyCommonAPI multiShady,
MultiEnvironment multiEnvironment,
Sentinel sentinel)
TBD |
|
TowerBlock(MultiShadyCommonAPI multiShady,
MultiEnvironment multiEnvironment,
Sentinel sentinel,
int memberStartIndex,
int segmentStartIndex)
TBD |
|
| Method Summary | |
|---|---|
double |
getEEOrientationOffset()
Return the offset in radians of the EE frame orientation relative to the orientation of the Segment of the end-effector point. |
Point.OnSegment |
getEEPoint()
Get the end-effector point. |
protected void |
initMembersAndSegments()
Subclasses must implement this to set up the MemberShadys and environment segments. |
protected void |
recompute(vona.math.RigidTransform2D transform,
double delta)
Subclasses must implement this to compute the transform from the Block.previouss end frame to this block's end frame according to Block.dof,
and possibly to update Block.leftBarrel and Block.rightBarrel from Block.dof. |
protected boolean |
recoverDOF()
Try to figure out the current Block.dof from the state of the barrel
angles in Block.multiShady. |
| Methods inherited from class shady.common.multi.chain.Block |
|---|
getDOF, getNext, getPrevious, getTransform, getTransform, hasNext, hasPrevious, isLocked, isSentinel, lock, lock, recompute, reverseUpdate, reverseUpdateChain, setDOF, setNominal, tweakDOF, unlock, update, updateChain |
| Methods inherited from class java.lang.Object |
|---|
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
| Field Detail |
|---|
private static final java.lang.String cvsid
CVS id.
public static final int NUM_MEMBERS
Number of member shadys in this tower block.
public static final int NUM_SEGMENTS
Number of segments in this tower block.
public static final double CC
The length of each shady.
public static final double SL
The length of each muntin segment used in this tower block.
public static final double TOP
The length of the top of the block: 2.0*SL+CC
public static final double BOTTOM
The length of the BOTTOM of the block: 2.0*SL+CC
public static final double LEG_MIN
The minimum length of both legs in the tower.
public static final double LEG_MAX
The maximum length of both legs in the tower.
public static final double BLOCK_UPPER_ANGLE
The upper angles in the nominal pose.
public static final double BLOCK_LOWER_ANGLE
The lower angles in the nominal pose.
public static final double OTHER_DIAG
Defined in shady.sim.ui.multi.block-bend.fig. This is the edge M3_l to M0_l in the triangle formed by M0_l, M3_l, and M4_r.
public static final double DPART
Defined in shady.sim.ui.multi.block-bend.fig. This is the angle located at M3_l in the triangle formed by M0_l, M3_l, and M4_r.
public static final double THETA_MAX_ABS
The absolute value of the maximum possible tilt angle.
public static final double M3L_X
The x coordinate of the left gripper of the M3 shady in the nominal pose. Note that the right gripper of M1 will have a value of -1.0*M3L_X in the nominal pose.
public static final double M3L_Y
The y coordinate of the left gripper of the M3 shady in the nominal pose. Note that the right gripper of M1 will have the same value in the nominal pose.
protected Point.OnSegment eePoint
The end-effector point, which is at 0.5 along the body segment of member 2.
| Constructor Detail |
|---|
public TowerBlock(MultiShadyCommonAPI multiShady,
MultiEnvironment multiEnvironment,
Sentinel sentinel,
int memberStartIndex,
int segmentStartIndex)
public TowerBlock(MultiShadyCommonAPI multiShady,
MultiEnvironment multiEnvironment,
Sentinel sentinel)
| Method Detail |
|---|
protected void initMembersAndSegments()
Subclasses must implement this to set up the MemberShadys and environment segments.
Block.numMembers and Block.numSegments must be set, and the
corresponding numbers of members and segments must be initialized
(according to Block.dof, Block.leftBarrel, Block.rightBarrel, and
Block.transform, which should all be consistent due to a prior call to
Block.recompute()) and added to Block.multiShady and Block.multiEnvironment. Internal barrels must be closed to form the block
topology, and barrels must be closed to connect to Block.previous iff
it's not a Sentinel.
This implementation creates the tower block. All of the barrels are gripped normally on the segments (ie not inverted). Internally, the right grippers are connected to the beginning of the segments (0.0) and the left grippers are connected to the ends (1.0). The first and last shady are connected to the midpoints of the segments on the top of the previous block iff the previous is not a sentinel.
initMembersAndSegments in class Block
protected void recompute(vona.math.RigidTransform2D transform,
double delta)
Subclasses must implement this to compute the transform from the Block.previouss end frame to this block's end frame according to Block.dof,
and possibly to update Block.leftBarrel and Block.rightBarrel from Block.dof.
This implementation makes use of geometry described in the header to compute the transform for a given delta which represents the theta of bending.
recompute in class Blocktransform - the computed transform is to be written here, not nulldelta - if non-zero then the DOF is incremented by this amount before
computing the transform (the persistent Block.dof is not affected).
This is used by ChainIK to compute columns of the chain Jacobian.
The barrel angles are (allocated and) computed iff delta is 0.0. The
caller must ensure that the incremented value will be in the range
[-1.0,1.0].protected boolean recoverDOF()
Try to figure out the current Block.dof from the state of the barrel
angles in Block.multiShady.
It can be assumed that the barrel angles were set as if by a
call to Block.recompute(RigidTransform2D, double). If this does not
appear to be the case then return false without modifying
dof.
This impl recovers DOF as set by recompute(vona.math.RigidTransform2D, double).
recoverDOF in class Blockpublic Point.OnSegment getEEPoint()
Get the end-effector point.
Note that the point may either reference a standard Segment or
the body segment of a member as returned by ShadyPose.getBodySegment(double).
This impl returns eePoint.
getEEPoint in class Blockpublic double getEEOrientationOffset()
Return the offset in radians of the EE frame orientation relative to
the orientation of the Segment of the end-effector point.
This impl returns 0.0.
getEEOrientationOffset in class BlockSegment of the end-effector point
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