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.setJointLimitUpper(angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); passiveJointC.setJointLimitUpper(angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); passiveJointD.setJointLimitUpper(0.5 * Math.PI + angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits);
passiveJointB.setJointLimitUpper(0.5 * Math.PI - angleEpsilon1); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); assertEquals(masterJointA.getJointLimitLower(), -0.5 * Math.PI + angleEpsilon0, eps); passiveJointC.setJointLimitUpper(0.5 * Math.PI - angleEpsilon1); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); assertEquals(masterJointA.getJointLimitLower(), -0.5 * Math.PI + angleEpsilon1, eps); passiveJointD.setJointLimitUpper(- angleEpsilon1); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); assertEquals(masterJointA.getJointLimitLower(), - 0.5 * Math.PI + angleEpsilon0, eps);
passiveJointB.setJointLimitUpper(0.5 * Math.PI - angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); passiveJointB.setJointLimitUpper(0.5 * Math.PI + angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); passiveJointC.setJointLimitUpper(0.5 * Math.PI - angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); passiveJointC.setJointLimitUpper(0.5 * Math.PI + angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); passiveJointD.setJointLimitUpper(Math.PI - angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits); passiveJointD.setJointLimitUpper(Math.PI + angleEpsilon); fourBarKinematicLoop = new FourBarKinematicLoop("fourBar", masterJointA, passiveJointB, passiveJointC, passiveJointD, jointAtoD, recomputeJointLimits);