PrismaticJoint Class Reference
A type of joint that translates along the z-axis of the joint frame.
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#include <joint.h>
List of all members.
Detailed Description
A type of joint that translates along the z-axis of the joint frame.
A specific type of joint used for linear motion.
Definition at line 323 of file joint.h.
Constructor & Destructor Documentation
Member Function Documentation
| void PrismaticJoint::applyInternalWrench |
( |
double |
magnitude |
) |
[virtual] |
Applies equal and opposite forces of magnitude f along the axis worldAxis to the two links connected to this joint.
Implements Joint.
Definition at line 278 of file joint.cpp.
| transf PrismaticJoint::getDynamicsTran |
( |
|
) |
const [inline, virtual] |
Returns the current joint transform as computed from IK during dynamic simulation.
Implements Joint.
Definition at line 346 of file joint.h.
| transf PrismaticJoint::getTran |
( |
double |
jointVal |
) |
const [inline, virtual] |
Returns the transform to the next joint frame the results from substituting jointVal for the current joint value.
Implements Joint.
Definition at line 342 of file joint.h.
| virtual JointT PrismaticJoint::getType |
( |
|
) |
const [inline, virtual] |
Returns the type of this joint: PRISMATIC.
Implements Joint.
Definition at line 340 of file joint.h.
| virtual double PrismaticJoint::getVal |
( |
|
) |
const [inline, virtual] |
Returns the current value of this joint.
Implements Joint.
Definition at line 337 of file joint.h.
| int PrismaticJoint::initJointFromXml |
( |
const TiXmlElement * |
root, |
|
|
int |
jnum | |
|
) |
| | [virtual] |
Initializes a prismatic joint from an XML DOM read from the robot configuration file. Returns FAILURE if it could not read all the necessary values from the provided XML, otherwise it returns SUCESS.
Implements Joint.
Definition at line 200 of file joint.cpp.
| int PrismaticJoint::setVal |
( |
double |
q |
) |
[virtual] |
Sets the current joint value to q. The d value of the DHTransform is then set to q + the joint offset c.
Implements Joint.
Definition at line 266 of file joint.cpp.
The documentation for this class was generated from the following files:
- /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/joint.h
- /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/joint.cpp
