Base Joints class. Other joint class should inherit from this class. More...

#include <RRJointComponent.h>

Inheritance diagram for URRJointComponent:

[legend]

Collaboration diagram for URRJointComponent:

Public Member Functions
	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	InitializeComponent () override
	Initialize JointToChildLink and ParentLinkToJoint. More...

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

virtual void	SetVelocityTarget (const FVector &InLinearVelocity, const FVector &InAngularVelocity)
	Set velocity target. 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	SetPose (const FVector &InPosition, const FRotator &InOrientation)
	Directly set pose. More...

virtual void	SetPoseTarget (const FVector &InPosition, const FRotator &InOrientation)
	Set Pose Target. 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...

virtual void	Teleport (const FVector &InPosition, const FRotator &InOrientation)
	Teleport robot to given pose. Implementation is in child class. More...

virtual void	MoveToInitPose ()

FTransform	GetJointToChildLink ()

FTransform	GetParentLinkToJoint ()

Public Attributes
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 Member Functions
virtual void	PoseFromArray (const TArray< float > &InPose, FVector &OutPosition, FRotator &OutOrientation)

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

virtual void	UpdateState (const float DeltaTime)

virtual void	UpdateControl (const float DeltaTime)

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 ()

Protected Attributes
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

Base Joints class. Other joint class should inherit from this class.

6 DOF joints class with velocity or position control.

temporary implementation of joints. should be merged with RobotImporter later.

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

Constructor & Destructor Documentation

◆ URRJointComponent()

URRJointComponent::URRJointComponent ( )

Member Function Documentation

◆ GetJointToChildLink()

FTransform URRJointComponent::GetJointToChildLink ( )

inline

UFUNCTION(BlueprintCallable)

◆ GetParentLinkToJoint()

FTransform URRJointComponent::GetParentLinkToJoint ( )

inline

UFUNCTION(BlueprintCallable)

◆ HasReachedPoseTarget()

virtual bool URRJointComponent::HasReachedPoseTarget	(	const float	InPositionTolerance = `-1.f`,
		const float	InOrientationTolerance = `-1.f`
	)

virtual

Check Pose reach the target pose.

If minus values are given, PositionTolerance and OrientationTolerance will be used.

UFUNCTION(BlueprintCallable)

◆ HasReachedVelocityTarget()

virtual bool URRJointComponent::HasReachedVelocityTarget	(	const float	InLinearTolerance = `-1.f`,
		const float	InAngularTolerance = `-1.f`
	)

virtual

Check Pose reach the target pose.

If minus values are given or called without args, LinearVelocityTolerance and AngularVelocityTolerance will be used.

UFUNCTION(BlueprintCallable)

◆ InitializeComponent()

virtual void URRJointComponent::InitializeComponent ( )

overridevirtual

Initialize JointToChildLink and ParentLinkToJoint.

Reimplemented in URRPhysicsJointComponent, and URRKinematicJointComponent.

◆ IsValid()

virtual bool URRJointComponent::IsValid ( )

virtual

Reimplemented in URRPhysicsJointComponent.

◆ MoveToInitPose()

virtual void URRJointComponent::MoveToInitPose ( )

virtual

UFUNCTION(BlueprintCallable)

Reimplemented in URRPhysicsJointComponent, and URRKinematicJointComponent.

◆ PoseFromArray()

virtual void URRJointComponent::PoseFromArray	(	const TArray< float > &	InPose,
		FVector &	OutPosition,
		FRotator &	OutOrientation
	)

protectedvirtual

◆ ResetControl()

virtual void URRJointComponent::ResetControl ( )

protectedvirtual

UFUNCTION(BlueprintCallable)

◆ SetDelegates()

virtual void URRJointComponent::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`
	)

protectedvirtual

Set Delegates which will be unbounded when move is completed or timeouthappen.

Parameters

InOnControlSuccessDelegate	called when move to target success
InOnControlFailDelegate	called when move to target fail
InPositionTolerance	update PositionTolerance if this is set >= 0.
InOrientationTolerance	update OrientationTolerance if this is set >= 0.
InTimeOut	if this is set less than 0, timeout won't happen.

◆ SetPose()

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

virtual

Directly set pose.

Control to teleport joint to this pose should be implemented in child class.

Parameters

InPosition
InOrientation

UFUNCTION(BlueprintCallable)

Reimplemented in URRPhysicsJointComponent, and URRKinematicJointComponent.

◆ SetPoseTarget()

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

virtual

Set Pose Target.

Control to move joint to pose target should be implemented in child class.

Parameters

InPosition
InOrientation

UFUNCTION(BlueprintCallable)

Reimplemented in URRPhysicsJointComponent, and URRKinematicJointComponent.

◆ SetPoseTargetWithArray()

virtual void URRJointComponent::SetPoseTargetWithArray ( const TArray< float > & InPose )

virtual

Set Pose Target.

Control to move joint to pose target should be implemented in child class.

TArray size should be LinearDOF + RotationalDOF

Parameters

InPose

UFUNCTION(BlueprintCallable)

◆ SetPoseTargetWithArrayWithDelegates()

virtual void URRJointComponent::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`
	)

virtual

Set Pose Target.

Parameters

InPose
InOnControlSuccessDelegate
InOnControlFailDelegate
InTimeOut

UFUNCTION(BlueprintCallable)

◆ SetPoseTargetWithDelegates()

virtual void URRJointComponent::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`
	)

virtual

Set Pose Target.

Parameters

InPosition
InOrientation
InOnControlSuccessDelegate	called when move to target success
InOnControlFailDelegate	called when move to target fail
InPositionTolerance	update PositionTolerance if this is set >= 0.
InOrientationTolerance	update OrientationTolerance if this is set >= 0.
InTimeOut

UFUNCTION(BlueprintCallable)

◆ SetPoseWithArray()

virtual void URRJointComponent::SetPoseWithArray ( const TArray< float > & InPose )

virtual

Directly set pose.

Control to teleport joint to pose should be implemented in child class.

TArray size should be LinearDOF + RotationalDOF

Parameters

InPose

UFUNCTION(BlueprintCallable)

◆ SetSingleAngularVelocityTarget()

virtual void URRJointComponent::SetSingleAngularVelocityTarget ( const float Input )

virtual

Utility wrapper of SetVelocityTarget to provide 1 DoF target position.

This is useful since most of the joint is 1 DOF

Parameters

Input

UFUNCTION(BlueprintCallable)

◆ SetSingleAngularVelocityTargetWithDelegates()

virtual void URRJointComponent::SetSingleAngularVelocityTargetWithDelegates	(	const float	Input,
		const FJointCallback &	InOnControlSuccessDelegate,
		const FJointCallback &	InOnControlFailDelegate,
		const float	InAngularTolerance = `-1.0`,
		const float	InTimeOut = `-1.0`
	)

virtual

Utility wrapper of SetVelocityTargetWithDelegates to provide 1 DoF target angular velocity.

This is useful since most of the joint is 1 DOF

Parameters

Input
InOnControlSuccessDelegate
InOnControlFailDelegate
InLinearTolerance
InTimeOut

UFUNCTION(BlueprintCallable)

◆ SetSingleLinearVelocityTarget()

virtual void URRJointComponent::SetSingleLinearVelocityTarget ( const float Input )

virtual

Utility wrapper of SetVelocityTarget to provide 1 DoF target orientation.

This is useful since most of the joint is 1 DOF

Parameters

Input

UFUNCTION(BlueprintCallable)

◆ SetSingleLinearVelocityTargetWithDelegates()

virtual void URRJointComponent::SetSingleLinearVelocityTargetWithDelegates	(	const float	Input,
		const FJointCallback &	InOnControlSuccessDelegate,
		const FJointCallback &	InOnControlFailDelegate,
		const float	InLinearTolerance = `-1.0`,
		const float	InTimeOut = `-1.0`
	)

virtual

Utility wrapper of SetVelocityTargetWithDelegates to provide 1 DoF targetlinear velocity.

This is useful since most of the joint is 1 DOF

Parameters

Input
InOnControlSuccessDelegate
InOnControlFailDelegate
InLinearTolerance
InTimeOut

UFUNCTION(BlueprintCallable)

◆ SetSingleOrientationTarget()

virtual void URRJointComponent::SetSingleOrientationTarget ( const float Input )

virtual

Utility wrapper of SetPoseTarget to provide 1 DoF target position.

This is useful since most of the joint is 1 DOF

Parameters

Input

UFUNCTION(BlueprintCallable)

◆ SetSingleOrientationTargetWithDelegates()

virtual void URRJointComponent::SetSingleOrientationTargetWithDelegates	(	const float	Input,
		const FJointCallback &	InOnControlSuccessDelegate,
		const FJointCallback &	InOnControlFailDelegate,
		const float	InOrientationTolerance = `-1.0`,
		const float	InTimeOut = `-1.0`
	)

virtual

Utility wrapper of SetPoseTargetWithDelegates to provide 1 DoF target orientation.

This is useful since most of the joint is 1 DOF

Parameters

Input
InOnControlSuccessDelegate	called when move to target success
InOnControlFailDelegate	called when move to target fail
InOrientationTolerance	update OrientationTolerance if this is set >= 0.
InTimeOut

UFUNCTION(BlueprintCallable)

◆ SetSinglePositionTarget()

virtual void URRJointComponent::SetSinglePositionTarget ( const float Input )

virtual

Utility wrapper of SetPoseTarget to provide 1 DoF target orientation.

This is useful since most of the joint is 1 DOF

Parameters

Input

UFUNCTION(BlueprintCallable)

◆ SetSinglePositionTargetWithDelegates()

virtual void URRJointComponent::SetSinglePositionTargetWithDelegates	(	const float	Input,
		const FJointCallback &	InOnControlSuccessDelegate,
		const FJointCallback &	InOnControlFailDelegate,
		const float	InPositionTolerance = `-1.0`,
		const float	InTimeOut = `-1.0`
	)

virtual

Utility wrapper of SetPoseTargetWithDelegates to provide 1 DoF target position.

This is useful since most of the joint is 1 DOF

Parameters

Input
InOnControlSuccessDelegate
InOnControlFailDelegate
InPositionTolerance
InTimeOut

UFUNCTION(BlueprintCallable)

◆ SetVelocity()

virtual void URRJointComponent::SetVelocity	(	const FVector &	InLinearVelocity,
		const FVector &	InAngularVelocity
	)

virtual

Directly set velocity.

Control to move joint with this velocity should be implemented in child class.

Parameters

InLinearVelocity
InAngularVelocity

UFUNCTION(BlueprintCallable)

Reimplemented in URRPhysicsJointComponent.

◆ SetVelocityTarget()

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

virtual

Set velocity target.

Control to move joint with this velocity should be implemented in child class.

Parameters

InLinearVelocity
InAngularVelocity

UFUNCTION(BlueprintCallable)

Reimplemented in URRPhysicsJointComponent, and URRKinematicJointComponent.

◆ SetVelocityTargetWithArray()

virtual void URRJointComponent::SetVelocityTargetWithArray ( const TArray< float > & InVelocity )

virtual

Set the Velocity Target.

Control to move joint with this velocity should be implemented in child class.

TArray size should be LinearDOF + RotationalDOF

Parameters

InVelocity

UFUNCTION(BlueprintCallable)

◆ SetVelocityTargetWithArrayWithDelegates()

virtual void URRJointComponent::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`
	)

virtual

Set the Velocity Target With Array With Delegates object.

Parameters

InVelocity
InOnControlSuccessDelegate
InOnControlFailDelegate
InLinearTolerance
InAngularTolerance
InTimeOut

UFUNCTION(BlueprintCallable)

◆ SetVelocityTargetWithDelegates()

virtual void URRJointComponent::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`
	)

virtual

Set the Velocity Target With Delegates object.

Parameters

InLinearVelocity
InAngularVelocity
InOnControlSuccessDelegate
InOnControlFailDelegate
InLinearTolerance
InAngularTolerance
InTimeOut

UFUNCTION(BlueprintCallable)

◆ SetVelocityWithArray()

virtual void URRJointComponent::SetVelocityWithArray ( const TArray< float > & InVelocity )

virtual

Set the Velocity With TArray.

Control to move joint with this velocity should be implemented in child class.

TArray size should be LinearDOF + RotationalDOF

Parameters

InVelocity

UFUNCTION(BlueprintCallable)

◆ Teleport()

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

virtual

Teleport robot to given pose. Implementation is in child class.

UFUNCTION(BlueprintCallable)

Reimplemented in URRPhysicsJointComponent, and URRKinematicJointComponent.

◆ TickComponent()

virtual void URRJointComponent::TickComponent	(	float	DeltaTime,
		ELevelTick	TickType,
		FActorComponentTickFunction *	ThisTickFunction
	)

overridevirtual

Call #UpdatePose after update PositionTarget and OrientationTarget with LinearVelocity and AngularVelocity.

Parameters

DeltaTime
TickType
ThisTickFunction

◆ UpdateControl()

virtual void URRJointComponent::UpdateControl ( const float DeltaTime )

protectedvirtual

UFUNCTION()

Reimplemented in URRPhysicsJointComponent, and URRKinematicJointComponent.

◆ UpdateState()

virtual void URRJointComponent::UpdateState ( const float DeltaTime )

protectedvirtual

UFUNCTION()

Reimplemented in URRPhysicsJointComponent, and URRKinematicJointComponent.

◆ VelocityFromArray()

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

protectedvirtual

Member Data Documentation

◆ AngularVelMax

FVector URRJointComponent::AngularVelMax = FVector(180.f)

Angular Velocity Limitations[deg/s].

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ AngularVelocity

FVector URRJointComponent::AngularVelocity = FVector::ZeroVector

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ AngularVelocityTarget

FVector URRJointComponent::AngularVelocityTarget = FVector::ZeroVector

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ AngularVelocityTolerance

float URRJointComponent::AngularVelocityTolerance = 10.f

[degree/s] tolerance for control

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bLimitPitch

bool URRJointComponent::bLimitPitch = true

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bLimitRoll

bool URRJointComponent::bLimitRoll = true

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bLimitYaw

bool URRJointComponent::bLimitYaw = true

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bMovingToTargetPose

bool URRJointComponent::bMovingToTargetPose = false

protected

true if joint is moving to target pose

UPROPERTY(VisibleAnywhere)

◆ bMovingToTargetVelocity

bool URRJointComponent::bMovingToTargetVelocity = false

protected

true if joint is moving to target velocity

UPROPERTY(VisibleAnywhere)

◆ ChildLink

UStaticMeshComponent* URRJointComponent::ChildLink

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ ControlStartTime

float URRJointComponent::ControlStartTime = 0.f

protected

time when target pose/vel are set.

◆ ControlTimeout

float URRJointComponent::ControlTimeout = -1.0f

protected

timeout. If joint can't reach target in this duration, OnControlFailDelegate should be called.

used only with #SetPoseTargetWithDelegate if this is set less than 0, timeout won't happen.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ ControlType

ERRJointControlType URRJointComponent::ControlType = ERRJointControlType::POSITION

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ InitialOrientation

FRotator URRJointComponent::InitialOrientation = FRotator::ZeroRotator

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ InitialPosition

FVector URRJointComponent::InitialPosition = FVector::ZeroVector

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ JointToChildLink

FTransform URRJointComponent::JointToChildLink = FTransform::Identity

protected

UPROPERTY()

◆ LinearDOF

uint8 URRJointComponent::LinearDOF = 0

Linear Degrees Of Freedom.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ LinearVelMax

FVector URRJointComponent::LinearVelMax = FVector(1000, 1000, 1000)

Linear Velocity Limitations[cm/s].

Todo:: is it possible to set inf?

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ LinearVelocity

FVector URRJointComponent::LinearVelocity = FVector::ZeroVector

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ LinearVelocityTarget

FVector URRJointComponent::LinearVelocityTarget = FVector::ZeroVector

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ LinearVelocityTolerance

float URRJointComponent::LinearVelocityTolerance = 10.f

[cm/s] tolerance for control

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ OnControlFailDelegate

FJointCallback URRJointComponent::OnControlFailDelegate

protected

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

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ OnControlSuccessDelegate

FJointCallback URRJointComponent::OnControlSuccessDelegate

protected

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

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ Orientation

FRotator URRJointComponent::Orientation = FRotator::ZeroRotator

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ OrientationMax

FRotator URRJointComponent::OrientationMax = FRotator(180.f)

Orientation Limitations[deg].

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ OrientationMin

FRotator URRJointComponent::OrientationMin = FRotator(-180, -180, -180)

Orientation Limitations[deg].

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ OrientationTarget

FRotator URRJointComponent::OrientationTarget = FRotator::ZeroRotator

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ OrientationTolerance

float URRJointComponent::OrientationTolerance = 1.f

[degree] tolerance for control

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ ParentLink

UStaticMeshComponent* URRJointComponent::ParentLink

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ ParentLinkToJoint

FTransform URRJointComponent::ParentLinkToJoint = FTransform::Identity

protected

UPROPERTY()

◆ Position

FVector URRJointComponent::Position = FVector::ZeroVector

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ PositionMax

FVector URRJointComponent::PositionMax = FVector(1000, 1000, 1000)

Pose Limitations[cm].

Todo:: is it possible to set inf?

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ PositionMin

FVector URRJointComponent::PositionMin = FVector(-1000, -1000, -1000)

Pose Limitations[cm].

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ PositionTarget

FVector URRJointComponent::PositionTarget = FVector::ZeroVector

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ PositionTolerance

float URRJointComponent::PositionTolerance = 1.f

[cm] tolerance for control

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ RotationalDOF

uint8 URRJointComponent::RotationalDOF = 1

Rotational Degrees Of Freedom.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

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/RRJointComponent.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ URRJointComponent()

Member Function Documentation

◆ GetJointToChildLink()

◆ GetParentLinkToJoint()

◆ HasReachedPoseTarget()

◆ HasReachedVelocityTarget()

◆ InitializeComponent()

◆ IsValid()

◆ MoveToInitPose()

◆ PoseFromArray()

◆ ResetControl()

◆ SetDelegates()

◆ SetPose()

◆ SetPoseTarget()

◆ SetPoseTargetWithArray()

◆ SetPoseTargetWithArrayWithDelegates()

◆ SetPoseTargetWithDelegates()

◆ SetPoseWithArray()

◆ SetSingleAngularVelocityTarget()

◆ SetSingleAngularVelocityTargetWithDelegates()

◆ SetSingleLinearVelocityTarget()

◆ SetSingleLinearVelocityTargetWithDelegates()

◆ SetSingleOrientationTarget()

◆ SetSingleOrientationTargetWithDelegates()

◆ SetSinglePositionTarget()

◆ SetSinglePositionTargetWithDelegates()

◆ SetVelocity()

◆ SetVelocityTarget()

◆ SetVelocityTargetWithArray()

◆ SetVelocityTargetWithArrayWithDelegates()

◆ SetVelocityTargetWithDelegates()

◆ SetVelocityWithArray()

◆ Teleport()

◆ TickComponent()

◆ UpdateControl()

◆ UpdateState()

◆ VelocityFromArray()

Member Data Documentation

◆ AngularVelMax

◆ AngularVelocity

◆ AngularVelocityTarget

◆ AngularVelocityTolerance

◆ bLimitPitch

◆ bLimitRoll

◆ bLimitYaw

◆ bMovingToTargetPose

◆ bMovingToTargetVelocity

◆ ChildLink

◆ ControlStartTime

◆ ControlTimeout

◆ ControlType

◆ InitialOrientation

◆ InitialPosition

◆ JointToChildLink

◆ LinearDOF

◆ LinearVelMax

◆ LinearVelocity

◆ LinearVelocityTarget

◆ LinearVelocityTolerance

◆ OnControlFailDelegate

◆ OnControlSuccessDelegate

◆ Orientation

◆ OrientationMax

◆ OrientationMin

◆ OrientationTarget

◆ OrientationTolerance

◆ ParentLink

◆ ParentLinkToJoint

◆ Position

◆ PositionMax

◆ PositionMin

◆ PositionTarget

◆ PositionTolerance

◆ RotationalDOF