RapyutaSimulationPlugins
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Kinematic Joint component. Uses K2_SetWorldTransform to move joint. More...
#include <RRKinematicJointComponent.h>
Public Member Functions | |
URRKinematicJointComponent () | |
virtual void | InitializeComponent () override |
Initialize JointToChildLink and ParentLinkToJoint. More... | |
virtual void | TickComponent (float DeltaTime, ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction) override |
Call UpdatePose after update PositionTarget and OrientationTarget with LinearVelocity and AngularVelocity. 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 | SetVelocity (const FVector &InLinearVelocity, const FVector &InAngularVelocity) |
Directly set 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 bool | HasReachedVelocityTarget (const float InLinearTolerance=-1.f, const float InAngularTolerance=-1.f) |
Check Pose reach the target pose. 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... | |
FTransform | GetJointToChildLink () |
FTransform | GetParentLinkToJoint () |
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 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) |
Protected Attributes inherited from URRJointComponent | |
FTransform | JointToChildLink = FTransform::Identity |
FTransform | ParentLinkToJoint = FTransform::Identity |
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:
UCLASS(ClassGroup = (Custom), meta = (BlueprintSpawnableComponent))
URRKinematicJointComponent::URRKinematicJointComponent | ( | ) |
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overridevirtual |
Initialize JointToChildLink and ParentLinkToJoint.
Reimplemented from URRJointComponent.
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virtual |
Reimplemented from URRJointComponent.
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overridevirtual |
Super::SetPose + UpdatePose.
Reimplemented from URRJointComponent.
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overridevirtual |
Set the Pose Target. Set LinearVelocity and AngularVelocity.
Velocity become Max, Min or Zero velocity.
InPosition | |
InOrientation |
Reimplemented from URRJointComponent.
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overridevirtual |
Set velocity target.
Velocity become same value as VelocityTarget with Kinematic Mode.
InLinearVelocity | |
InAngularVelocity |
Reimplemented from URRJointComponent.
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overridevirtual |
Teleport robot to given pose. Just call SetPose.
InPosition | |
InOrientation |
Reimplemented from URRJointComponent.
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overridevirtual |
Call UpdatePose after update PositionTarget and OrientationTarget with LinearVelocity and AngularVelocity.
DeltaTime | |
TickType | |
ThisTickFunction |
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virtual |
Update joints and ChildLink pose by K2_SetWorldTransform with PositionTarget and OrientationTarget.