Kinematic Joint component. Uses K2_SetWorldTransform to move joint. More...

#include <RRKinematicJointComponent.h>

Inheritance diagram for URRKinematicJointComponent:

Collaboration diagram for URRKinematicJointComponent:

Public Member Functions
	URRKinematicJointComponent ()

virtual void	InitializeComponent () override
	Initialize JointToChildLink and ParentLinkToJoint. More...

virtual void	SetVelocityTarget (const FVector &InLinearVelocity, const FVector &InAngularVelocity) override
	Set velocity target. More...

virtual void	SetPose (const FVector &InPosition, const FRotator &InOrientation) override
	Super::SetPose + UpdatePose. More...

virtual void	SetPoseTarget (const FVector &InPosition, const FRotator &InOrientation) override
	Set the Pose Target. Set LinearVelocity and AngularVelocity. More...

virtual void	UpdatePose ()
	Update joints and ChildLink pose by K2_SetWorldTransform with PositionTarget and OrientationTarget. More...

virtual void	Teleport (const FVector &InPosition, const FRotator &InOrientation) override
	Teleport robot to given pose. Just call SetPose. More...

virtual void	MoveToInitPose ()

Public Member Functions inherited from URRJointComponent
	URRJointComponent ()

virtual bool	IsValid ()

virtual void	TickComponent (float DeltaTime, ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction) override
	Call #UpdatePose after update PositionTarget and OrientationTarget with LinearVelocity and AngularVelocity. More...

virtual void	SetVelocity (const FVector &InLinearVelocity, const FVector &InAngularVelocity)
	Directly set velocity. More...

virtual void	SetSingleLinearVelocityTarget (const float Input)
	Utility wrapper of SetVelocityTarget to provide 1 DoF target orientation. More...

virtual void	SetSingleAngularVelocityTarget (const float Input)
	Utility wrapper of SetVelocityTarget to provide 1 DoF target position. More...

virtual void	SetVelocityTargetWithDelegates (const FVector &InLinearVelocity, const FVector &InAngularVelocity, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InLinearTolerance=-1.0, const float InAngularTolerance=-1.0, const float InTimeOut=-1.0)
	Set the Velocity Target With Delegates object. More...

virtual void	SetSingleLinearVelocityTargetWithDelegates (const float Input, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InLinearTolerance=-1.0, const float InTimeOut=-1.0)
	Utility wrapper of SetVelocityTargetWithDelegates to provide 1 DoF targetlinear velocity. More...

virtual void	SetSingleAngularVelocityTargetWithDelegates (const float Input, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InAngularTolerance=-1.0, const float InTimeOut=-1.0)
	Utility wrapper of SetVelocityTargetWithDelegates to provide 1 DoF target angular velocity. More...

virtual void	SetVelocityWithArray (const TArray< float > &InVelocity)
	Set the Velocity With TArray. More...

virtual void	SetVelocityTargetWithArray (const TArray< float > &InVelocity)
	Set the Velocity Target. More...

virtual void	SetVelocityTargetWithArrayWithDelegates (const TArray< float > &InVelocity, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InLinearTolerance=-1.0, const float InAngularTolerance=-1.0, const float InTimeOut=-1.0)
	Set the Velocity Target With Array With Delegates object. More...

virtual bool	HasReachedVelocityTarget (const float InLinearTolerance=-1.f, const float InAngularTolerance=-1.f)
	Check Pose reach the target pose. More...

virtual void	SetSinglePositionTarget (const float Input)
	Utility wrapper of SetPoseTarget to provide 1 DoF target orientation. More...

virtual void	SetSingleOrientationTarget (const float Input)
	Utility wrapper of SetPoseTarget to provide 1 DoF target position. More...

virtual void	SetPoseTargetWithDelegates (const FVector &InPosition, const FRotator &InOrientation, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InPositionTolerance=-1.0, const float InOrientationTolerance=-1.0, const float InTimeOut=-1.0)
	Set Pose Target. More...

virtual void	SetSinglePositionTargetWithDelegates (const float Input, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InPositionTolerance=-1.0, const float InTimeOut=-1.0)
	Utility wrapper of SetPoseTargetWithDelegates to provide 1 DoF target position. More...

virtual void	SetSingleOrientationTargetWithDelegates (const float Input, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InOrientationTolerance=-1.0, const float InTimeOut=-1.0)
	Utility wrapper of SetPoseTargetWithDelegates to provide 1 DoF target orientation. More...

virtual bool	HasReachedPoseTarget (const float InPositionTolerance=-1.f, const float InOrientationTolerance=-1.f)
	Check Pose reach the target pose. More...

virtual void	SetPoseWithArray (const TArray< float > &InPose)
	Directly set pose. More...

virtual void	SetPoseTargetWithArray (const TArray< float > &InPose)
	Set Pose Target. More...

virtual void	SetPoseTargetWithArrayWithDelegates (const TArray< float > &InPose, const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InPositionTolerance=-1.0, const float InOrientationTolerance=-1.0, const float InTimeOut=-1.0)
	Set Pose Target. More...

FTransform	GetJointToChildLink ()

FTransform	GetParentLinkToJoint ()

Protected Member Functions
virtual void	UpdateState (const float DeltaTime) override

virtual void	UpdateControl (const float DeltaTime) override

Protected Member Functions inherited from URRJointComponent
virtual void	PoseFromArray (const TArray< float > &InPose, FVector &OutPosition, FRotator &OutOrientation)

virtual void	VelocityFromArray (const TArray< float > &InVelocity, FVector &OutLinearVelocity, FVector &OutAngularVelocity)

virtual void	SetDelegates (const FJointCallback &InOnControlSuccessDelegate, const FJointCallback &InOnControlFailDelegate, const float InPositionTolerance=-1.0, const float InOrientationTolerance=-1.0, const float InLinearTolerance=-1.0, const float InAngularTolerance=-1.0, const float InTimeOut=-1.0f)
	Set Delegates which will be unbounded when move is completed or timeouthappen. More...

virtual void	ResetControl ()

Additional Inherited Members
Public Attributes inherited from URRJointComponent
FVector	LinearVelocity = FVector::ZeroVector

FVector	AngularVelocity = FVector::ZeroVector

FVector	LinearVelocityTarget = FVector::ZeroVector

FVector	AngularVelocityTarget = FVector::ZeroVector

FVector	PositionTarget = FVector::ZeroVector

FRotator	OrientationTarget = FRotator::ZeroRotator

FVector	Position = FVector::ZeroVector

FRotator	Orientation = FRotator::ZeroRotator

float	PositionTolerance = 1.f
	[cm] tolerance for control More...

float	OrientationTolerance = 1.f
	[degree] tolerance for control More...

float	LinearVelocityTolerance = 10.f
	[cm/s] tolerance for control More...

float	AngularVelocityTolerance = 10.f
	[degree/s] tolerance for control More...

UStaticMeshComponent *	ParentLink

UStaticMeshComponent *	ChildLink

ERRJointControlType	ControlType = ERRJointControlType::POSITION

uint8	LinearDOF = 0
	Linear Degrees Of Freedom. More...

uint8	RotationalDOF = 1
	Rotational Degrees Of Freedom. More...

FVector	PositionMax = FVector(1000, 1000, 1000)
	Pose Limitations[cm]. More...

FVector	PositionMin = FVector(-1000, -1000, -1000)
	Pose Limitations[cm]. More...

FRotator	OrientationMax = FRotator(180.f)
	Orientation Limitations[deg]. More...

FRotator	OrientationMin = FRotator(-180, -180, -180)
	Orientation Limitations[deg]. More...

FVector	LinearVelMax = FVector(1000, 1000, 1000)
	Linear Velocity Limitations[cm/s]. More...

FVector	AngularVelMax = FVector(180.f)
	Angular Velocity Limitations[deg/s]. More...

bool	bLimitRoll = true

bool	bLimitPitch = true

bool	bLimitYaw = true

FVector	InitialPosition = FVector::ZeroVector

FRotator	InitialOrientation = FRotator::ZeroRotator

Protected Attributes inherited from URRJointComponent
FTransform	JointToChildLink = FTransform::Identity

FTransform	ParentLinkToJoint = FTransform::Identity

bool	bMovingToTargetPose = false
	true if joint is moving to target pose More...

bool	bMovingToTargetVelocity = false
	true if joint is moving to target velocity More...

FJointCallback	OnControlSuccessDelegate
	Delegate which is called when joint reach target vel/pose. More...

FJointCallback	OnControlFailDelegate
	Delegate which is called whenjoint failed to reach target vel/pose. More...

float	ControlStartTime = 0.f
	time when target pose/vel are set. More...

float	ControlTimeout = -1.0f
	timeout. If joint can't reach target in this duration, OnControlFailDelegate should be called. More...

Detailed Description

Kinematic Joint component. Uses K2_SetWorldTransform to move joint.

Expects Joint(this) is child component of ParentLink and ChildLink is child component of Joint(this). Use initial pose

relations among parent link, joint and child link to calculate joint movement.

#Controltype:

Joints moves with Max, Min velocity to target with ERRJointControlType::POSITION
Joints moves with given velocity with ERRJointControlType::VELOCITY

See also: K2_SetWorldTransform

UCLASS(ClassGroup = (Custom), meta = (BlueprintSpawnableComponent))

Constructor & Destructor Documentation

◆ URRKinematicJointComponent()

URRKinematicJointComponent::URRKinematicJointComponent ( )

Member Function Documentation

◆ InitializeComponent()

virtual void URRKinematicJointComponent::InitializeComponent ( )

overridevirtual

Initialize JointToChildLink and ParentLinkToJoint.

Reimplemented from URRJointComponent.

◆ MoveToInitPose()

virtual void URRKinematicJointComponent::MoveToInitPose ( )

virtual

UFUNCTION(BlueprintCallable)

Reimplemented from URRJointComponent.

◆ SetPose()

virtual void URRKinematicJointComponent::SetPose	(	const FVector &	InPosition,
		const FRotator &	InOrientation
	)

overridevirtual

Super::SetPose + UpdatePose.

Reimplemented from URRJointComponent.

◆ SetPoseTarget()

virtual void URRKinematicJointComponent::SetPoseTarget	(	const FVector &	InPosition,
		const FRotator &	InOrientation
	)

overridevirtual

Set the Pose Target. Set LinearVelocity and AngularVelocity.

Velocity become Max, Min or Zero velocity.

Parameters

InPosition
InOrientation

Reimplemented from URRJointComponent.

◆ SetVelocityTarget()

virtual void URRKinematicJointComponent::SetVelocityTarget	(	const FVector &	InLinearVelocity,
		const FVector &	InAngularVelocity
	)

overridevirtual

Set velocity target.

Velocity become same value as VelocityTarget with Kinematic Mode.

Parameters

InLinearVelocity
InAngularVelocity

Reimplemented from URRJointComponent.

◆ Teleport()

virtual void URRKinematicJointComponent::Teleport	(	const FVector &	InPosition,
		const FRotator &	InOrientation
	)

overridevirtual

Teleport robot to given pose. Just call SetPose.

Parameters

InPosition
InOrientation

Reimplemented from URRJointComponent.

◆ UpdateControl()

virtual void URRKinematicJointComponent::UpdateControl ( const float DeltaTime )

overrideprotectedvirtual

UFUNCTION()

Reimplemented from URRJointComponent.

◆ UpdatePose()

virtual void URRKinematicJointComponent::UpdatePose ( )

virtual

Update joints and ChildLink pose by K2_SetWorldTransform with PositionTarget and OrientationTarget.

See also: K2_SetWorldTransform

◆ UpdateState()

virtual void URRKinematicJointComponent::UpdateState ( const float DeltaTime )

overrideprotectedvirtual

UFUNCTION()

Reimplemented from URRJointComponent.

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

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Drives/RRKinematicJointComponent.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ URRKinematicJointComponent()

Member Function Documentation

◆ InitializeComponent()

◆ MoveToInitPose()

◆ SetPose()

◆ SetPoseTarget()

◆ SetVelocityTarget()

◆ Teleport()

◆ UpdateControl()

◆ UpdatePose()

◆ UpdateState()