private void initializeAllJointsToSameLimits(double lowerLimit, double upperLimit) { masterJointA.setJointLimitLower(lowerLimit); masterJointA.setJointLimitUpper(upperLimit); passiveJointB.setJointLimitLower(lowerLimit); passiveJointB.setJointLimitUpper(upperLimit); passiveJointC.setJointLimitLower(lowerLimit); passiveJointC.setJointLimitUpper(upperLimit); passiveJointD.setJointLimitLower(lowerLimit); passiveJointD.setJointLimitUpper(upperLimit); }
private void initializeJointLimits(double lowerLimitA, double upperLimitA, double lowerLimitB, double upperLimitB, double lowerLimitC, double upperLimitC, double lowerLimitD, double upperLimitD) { masterJointA.setJointLimitLower(lowerLimitA); masterJointA.setJointLimitUpper(upperLimitA); passiveJointB.setJointLimitLower(lowerLimitB); passiveJointB.setJointLimitUpper(upperLimitB); passiveJointC.setJointLimitLower(lowerLimitC); passiveJointC.setJointLimitUpper(upperLimitC); passiveJointD.setJointLimitLower(lowerLimitD); passiveJointD.setJointLimitUpper(upperLimitD); }
passiveJointB.setJointLimitLower(- angleEpsilon); passiveJointB.setJointLimitUpper(angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, passiveJointC.setJointLimitLower(- angleEpsilon); passiveJointC.setJointLimitUpper(angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, passiveJointD.setJointLimitLower(0.5 * Math.PI - angleEpsilon); passiveJointD.setJointLimitUpper(0.5 * Math.PI + angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD,
passiveJointB.setJointLimitLower(-0.5 * Math.PI + angleEpsilon0); passiveJointB.setJointLimitUpper(0.5 * Math.PI - angleEpsilon1); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); passiveJointC.setJointLimitLower(-0.5 * Math.PI + angleEpsilon0); passiveJointC.setJointLimitUpper(0.5 * Math.PI - angleEpsilon1); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); passiveJointD.setJointLimitLower(- Math.PI + angleEpsilon0); passiveJointD.setJointLimitUpper(- angleEpsilon1); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits);
passiveJointB.setJointLimitLower(-0.5 * Math.PI + angleEpsilon); passiveJointB.setJointLimitUpper(0.5 * Math.PI - angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, passiveJointB.setJointLimitLower(-0.5 * Math.PI - angleEpsilon); passiveJointB.setJointLimitUpper(0.5 * Math.PI + angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, passiveJointC.setJointLimitLower(-0.5 * Math.PI + angleEpsilon); passiveJointC.setJointLimitUpper(0.5 * Math.PI - angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, passiveJointC.setJointLimitLower(-0.5 * Math.PI - angleEpsilon); passiveJointC.setJointLimitUpper(0.5 * Math.PI + angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, passiveJointD.setJointLimitLower(angleEpsilon); passiveJointD.setJointLimitUpper(Math.PI - angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, passiveJointD.setJointLimitLower(- angleEpsilon); passiveJointD.setJointLimitUpper(Math.PI + angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD,