Mechanisms Class Reference

Public Member Functions
abstract void	forwardKinematics (float[] angles)
abstract void	torqueCalculation (float[] forces)
abstract void	forceCalculation ()
abstract void	positionControl ()
abstract void	inverseKinematics ()
abstract void	set_mechanism_parameters (float[] parameters)
abstract void	set_sensor_data (float[] data)
abstract float[]	get_coordinate ()
abstract float[]	get_torque ()
abstract float[]	get_angle ()

Member Function Documentation

forceCalculation()

abstract void Mechanisms.forceCalculation ( )

abstract

Performs force calculations

forwardKinematics()

abstract void Mechanisms.forwardKinematics ( float[]  angles )

abstract

Performs the forward kinematics physics calculation of a specific physical mechanism

Parameters

angles

angular inpujts of physical mechanisms (array element length based on the degree of freedom of the mechanism in question)

get_angle()

abstract float [] Mechanisms.get_angle ( )

abstract

Returns

angle values from physics calculations

get_coordinate()

abstract float [] Mechanisms.get_coordinate ( )

abstract

Returns

end-effector coordinate position

get_torque()

abstract float [] Mechanisms.get_torque ( )

abstract

Returns

torque values from physics calculations

inverseKinematics()

abstract void Mechanisms.inverseKinematics ( )

abstract

Performs inverse kinematics calculations

positionControl()

abstract void Mechanisms.positionControl ( )

abstract

Performs calculations for position control

set_mechanism_parameters()

abstract void Mechanisms.set_mechanism_parameters ( float[]  parameters )

abstract

Initializes or changes mechanisms parameters

Parameters

parameters

mechanism parameters

set_sensor_data()

abstract void Mechanisms.set_sensor_data ( float[]  data )

abstract

Sets and updates sensor data that may be used by the mechanism

Parameters

data	sensor data from sensors attached to Haply board

torqueCalculation()

abstract void Mechanisms.torqueCalculation ( float[]  forces )

abstract

Performs torque calculations that actuators need to output

Parameters

force

force values calculated from physics simulation that needs to be conteracted

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The documentation for this class was generated from the following file:

• src/Mechanisms.java