Commands for the description of joint.

The description of a joint can be done with p3d_add_desc_jnt <type> <x> <y> <z> <axe x>=""> <axe y>=""> <axe z>=""> {() ... } <parameters> <indice prev="" joint>=""> [{() ... }] or p3d_add_desc_xyz_jnt <type> <x> <y> <z> <Rx> <Ry> <Rz> {() ... } <parameters> <indice prev="" joint>=""> [{() ... }]. But these functions became complex. An other way is to define this joint between a p3d_beg_desc_jnt <type> and p3d_end_desc.

This definition can be done in the files: .p3d, .macro (and .sce for multi-robots version).

The following functions are defined:

Start the definition of a new joint for the type ::p3d_type_joint: <type>: Type is ::p3d_type_joint (with the M3D_ or P3D_ beginning):

• ::P3D_ROTATE, M3D_ROTATE: Joint rotate (1 dof). Its default use is one rotation Rz.
• ::P3D_FIXED, M3D_FIXED: Fixed joint (0 dof). Used for grasp.
• ::P3D_TRANSLATE, M3D_TRANSLATE: Joint translate (1 dof). Its default use is one translation z.
• ::P3D_PLAN, M3D_PLAN: Joint plan (3 dof). Its default use is 2 translation x, y and then a rotation Rz.
• ::P3D_FREEFLYER, M3D_FREEFLYER: Joint freeflyer (6 dof). Its default use is 3 translations x, y, z then 3 rotations Rx, Ry, Rz.
• ::P3D_KNEE, M3D_KNEE: Joint knee (3 dof). Its default use is 3 rotations Rx, Ry, Rz.
• ::P3D_PPIVOT, M3D_PPIVOT: Only use for compatibility reasons, int fact this is a ::P3D_ROTATE.

It ends with p3d_end_desc

Finish the description began by p3d_beg_desc_jnt <type>.

Define the previous joint <number>, the default value is 0, the ::P3D_BASE joint.

Funtions to set the position of one joint.

p3d_set_pos_axe <x> <y> <z> <axe x> <axe y> <axe z>

Define the initial position of the joint by its orientation, like p3d_add_desc_jnt <type> <x> <y> <z> <axe x>=""> <axe y>=""> <axe z>=""> {() ... } <parameters> <indice prev="" joint>=""> [{() ... }].

• <x> <y> <z>: This is the absolute position of the joint.
• <axe x> <axe y> <axe z>: is the new main axis to the joint (default is z axis). We use only one rotation to transform the z axis to it's new axis. For example a ::P3D_PLAN, (1, 0, 0) represent a rotation Ry 90 degree (z axis becomes x axis). So we have then two translations (-z, y), one rotation (Rx). This parametrage can't represent all placement, but it is compatible with previous version of Move3D. To specify any rotation use p3d_set_pos_xyz <x> <y> <z> <Rx> <Ry> <Rz>

p3d_set_pos_axe_dh <a> <alpha> <r> <theta>

Define the initial position of the joint folowing Denavit & Hartenberg parameters, like p3d_set_pos_axe_dh <alpha> <r> <theta>.

p3d_set_pos_xyz <x> <y> <z> <Rx> <Ry> <Rz>

Define the initial position of the joint by three rotations, like p3d_add_desc_xyz_jnt <type> <x> <y> <z> <Rx> <Ry> <Rz> {() ... } <parameters> <indice prev="" joint>=""> [{() ... }].

• <x> <y> <z>: This is the absolute position of the joint.
• <Rx> <Ry> <Rz>: Three rotations to describe the orientation of the joints.

p3d_set_pos_mat <M(0,0)> <M(0,1)> ... <M(3,2)> <M(3,3)>

Define the initial position of the joint by its matrice.

• <M(0,0)> <M(0,1)> ... <M(3,2)> <M(3,3)>: This position matrix of the joint.

p3d_set_pos_relative

Flag to show that the initial position of the joint (defined either by p3d_set_pos_axe <x> <y> <z> <axe x>=""> <axe y>=""> <axe z>="">, p3d_set_pos_xyz <x> <y> <z> <Rx> <Ry> <Rz>, p3d_set_pos_dh_subsection or p3d_set_pos_mat <M(0,0)> <M(0,1)> ... <M(3,2)> <M(3,3)>) is defined relativly to the previous joint initial position. If p3d_set_pos_relative is not define. The initial position is the absolute position in the environment.

Funtions to set the values of the degree of freedom of one joint.

p3d_set_dof <value_1> <value_2> ... <value_n>

Function to set the initial values of the degree of freedom, all the degree of freedom must be defined.

• <value_i>: Value of the degree of freedom, in degree for angle. By default, they are null.

p3d_set_dof_pos0 <value_1> <value_2> ... <value_n>

Function to set the initial values of the degree of freedom, corresponding to the initial position of the joint.

• <value_i>: Value of the degree of freedom, in degree for angle. By default, they are null.

p3d_set_dof_vmin <value_1> <value_2> ... <value_n>

Funtions to set the initial minimal bounds for the values of the degree of freedom of one joint. All the degree of freedom must be defined.

• <value_i>: Value of the minimal bounds for the degrees of freedom, in degree for angle. By default, they are null.

p3d_set_dof_vmax <value_1> <value_2> ... <value_n>

Funtions to set the initial maximal bounds for the values of the degree of freedom of one joint. All the degree of freedom must be defined.

• <value_i>: Value of the marimal bounds for the degrees of freedom, in degree for angle. By default, they are null.

p3d_set_dof_vmin_rand <value_1> <value_2> ... <value_n>

Funtions to set the initial minimal bounds for random sampling of the values of the degree of freedom of one joint. All the degree of freedom must be defined.

• <value_i>: Value of the minimal bounds for random sampling the degrees of freedom, in degree for angle. By default, they are equal to the minimal bounds.

p3d_set_dof_vmax_rand <value_1> <value_2> ... <value_n>

Funtions to set the initial maximal bounds for random sampling of the values of the degree of freedom of one joint. All the degree of freedom must be defined.

• <value_i>: Value of the maximal bounds for random sampling the degrees of freedom, in degree for angle. By default, they are equal to the maximal bounds.

p3d_set_is_user <flag_1> ... <flag_n>

Funtions to define if the degree of freedom are visible to the user or not. All the degree of freedom must be defined.

• <flag_i>: TRUE if the degree of freedom is visible for user.

Funtions to set parameters to the joint

p3d_set_param <value_1> <value_2> ... <value_n>

Defined parameter used by the joint (currently, no joint use this).

p3d_set_name <name>

Define the name of the joint