Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes

Class DHParameter

java.lang.Object

com.marginallyclever.ro3.node.Node

com.marginallyclever.ro3.node.nodes.DHParameter

public class DHParameter
extends Node

DHParameter is a node that translates a sibling Pose to and from Denavit-Hartenberg parameters for a joint. It describes the relative pose of the next joint.

The DH parameters can be derived by finding the common normals between two consecutive Z axes. The new X axis points along the common normal. The intersection point of the two normals may be outside the physical structure being described.

This class provides several functionalities:

• It can convert a Pose to Denavit-Hartenberg parameters.
• It can convert Denavit-Hartenberg parameters to a Pose.
• It can adjust the local transformations of all MeshInstance siblings.
• It can serialize and deserialize itself to and from JSON format.

This class also provides several properties:

• d: the distance along the previous z to the common normal.
• r: the length of the common normal. Assuming a revolute joint, this is the radius about the previous z.
• alpha: the angle about the common normal to align the previous z to the new z.
• theta: the angle about the previous z for the common normal.

Constructor Summary

Constructors

Constructor	Description
DHParameter()

Method Summary

Modifier and Type	Method	Description
void	fromJSON(org.json.JSONObject from)	Deserialize this node and its children from a JSON object and its children.
void	fromPose()
double	getAlpha()
void	getComponents(List<JPanel> list)	Build a Swing Component that represents this Node.
double	getD()
double	getR()
double	getTheta()
void	setAlpha(double alpha)
void	setD(double d)
void	setR(double r)
void	setTheta(double theta)
org.json.JSONObject	toJSON()	Serialize this node and its children to a JSON object and its children.
void	toPoseAndAdjustMeshes()	Adjust the local transformations of all MeshInstance siblings.

Methods inherited from class com.marginallyclever.ro3.node.Node

addAttachListener, addChild, addChild, addDetachListener, addReadyListener, addRenameListener, findByPath, findChild, findChild, findFirstChild, findFirstSibling, findNodeByID, findParent, findParent, getAbsolutePath, getChildren, getName, getParent, getRootNode, getUniqueID, hasParent, isNameUsedBySibling, removeAttachListener, removeChild, removeDetachListener, removeReadyListener, removeRenameListener, setName, update, witnessProtection

Methods inherited from class java.lang.Object

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

Constructor Details

DHParameter

public DHParameter()

Method Details

fromPose

public void fromPose()

toPoseAndAdjustMeshes

public void toPoseAndAdjustMeshes()

Adjust the local transformations of all MeshInstance siblings.

getComponents

public void getComponents(List<JPanel> list)

Description copied from class: Node

Build a Swing Component that represents this Node.

Overrides:

getComponents in class Node

Parameters:

list - the list to add components to.

toJSON

public org.json.JSONObject toJSON()

Description copied from class: Node

Serialize this node and its children to a JSON object and its children. Classes that override this method should call super.toJSON() first, then add to the object returned.

Overrides:

toJSON in class Node

Returns:

the JSON object.

fromJSON

public void fromJSON(org.json.JSONObject from)

Description copied from class: Node

Deserialize this node and its children from a JSON object and its children. Classes that override this method should call super.fromJSON(). When they do it will trigger the creation of child nodes. The child nodes will then call their own fromJSON() methods.

Overrides:

fromJSON in class Node

Parameters:

from - the JSON object to read from.

setD

public void setD(double d)

getD

public double getD()

setR

public void setR(double r)

getR

public double getR()

setAlpha

public void setAlpha(double alpha)

getAlpha

public double getAlpha()

setTheta

public void setTheta(double theta)

getTheta

public double getTheta()