RevoluteJoint Class Reference
A type of joint that rotates about 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 rotates about the z-axis of the joint frame.
A specific type of joint used for rotary motion.
Definition at line 369 of file joint.h.
Constructor & Destructor Documentation
Member Function Documentation
| void RevoluteJoint::applyInternalWrench |
( |
double |
magnitude |
) |
[virtual] |
Applies equal and opposite torques of magnitude f about the axis worldAxis to the two links connected to this joint.
Implements Joint.
Definition at line 382 of file joint.cpp.
| transf RevoluteJoint::getDynamicsTran |
( |
|
) |
const [inline, virtual] |
Returns the current joint transform as computed from IK during dynamic simulation.
Implements Joint.
Definition at line 392 of file joint.h.
| transf RevoluteJoint::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 389 of file joint.h.
| virtual JointT RevoluteJoint::getType |
( |
|
) |
const [inline, virtual] |
Returns the type of this joint: REVOLUTE.
Implements Joint.
Definition at line 386 of file joint.h.
| virtual double RevoluteJoint::getVal |
( |
|
) |
const [inline, virtual] |
Returns the current value of this joint.
Implements Joint.
Definition at line 379 of file joint.h.
| int RevoluteJoint::initJointFromXml |
( |
const TiXmlElement * |
root, |
|
|
int |
jnum | |
|
) |
| | [virtual] |
Initializes a revolute joint from an XML DOM read from the robot configuration file. This returns FAILURE if it could not read all the necessary values from the provided string, otherwise it returns SUCESS.
Implements Joint.
Definition at line 295 of file joint.cpp.
| int RevoluteJoint::setVal |
( |
double |
q |
) |
[virtual] |
Sets the current joint value to q. The theta value of the DHTransform is then set to q + the joint offset c.
Implements Joint.
Definition at line 370 of file joint.cpp.
The documentation for this class was generated from the following files:
