Public Member Functions | Private Member Functions | Private Attributes | Friends
pJoint Class Reference

Class for representing "handle"; two pJoint instances are attached to both sides of each joint. More...

#include <psim.h>

List of all members.

Public Member Functions

JointGetJoint ()
pJointPair ()
int ParentSide ()
 pJoint (Joint *_joint, Joint *_link_side)
 ~pJoint ()

Private Member Functions

void calc_dvel ()
void calc_jacobian ()
void calc_jdot ()
void dump (ostream &ost)

Private Attributes

fVec acc_final
fVec colf_final
fVec dvel
fVec f_final
fMat J
fVec Jdot
Jointjoint
Jointlink_side
 null in parent side of space joint
pJointpair
int parent_side
 link is in parent side?
pLinkplink
pSubChainsubchain
 the subchain which only contains the link associated with this pjoint
fVec vel_final

Friends

class pLink
class pSim
class pSubChain

Detailed Description

Class for representing "handle"; two pJoint instances are attached to both sides of each joint.

Definition at line 81 of file psim.h.


Constructor & Destructor Documentation

pJoint::pJoint ( Joint _joint,
Joint _link_side 
) [inline]

Definition at line 87 of file psim.h.

pJoint::~pJoint ( ) [inline]

Definition at line 110 of file psim.h.


Member Function Documentation

void pJoint::calc_dvel ( ) [private]

Definition at line 585 of file update.cpp.

void pJoint::calc_jacobian ( ) [private]

Definition at line 164 of file update.cpp.

void pJoint::calc_jdot ( ) [private]

Definition at line 802 of file update.cpp.

void pJoint::dump ( ostream &  ost) [private]

Definition at line 363 of file psim.cpp.

Joint* pJoint::GetJoint ( ) [inline]

Definition at line 116 of file psim.h.

pJoint* pJoint::Pair ( ) [inline]

Definition at line 113 of file psim.h.

int pJoint::ParentSide ( ) [inline]

Definition at line 119 of file psim.h.


Friends And Related Function Documentation

friend class pLink [friend]

Definition at line 84 of file psim.h.

friend class pSim [friend]

Definition at line 83 of file psim.h.

friend class pSubChain [friend]

Definition at line 85 of file psim.h.


Member Data Documentation

Definition at line 138 of file psim.h.

Definition at line 142 of file psim.h.

fVec pJoint::dvel [private]

Definition at line 141 of file psim.h.

fVec pJoint::f_final [private]

Definition at line 137 of file psim.h.

fMat pJoint::J [private]

Definition at line 135 of file psim.h.

fVec pJoint::Jdot [private]

Definition at line 136 of file psim.h.

Joint* pJoint::joint [private]

Definition at line 128 of file psim.h.

null in parent side of space joint

Definition at line 129 of file psim.h.

pJoint* pJoint::pair [private]

Definition at line 131 of file psim.h.

link is in parent side?

Definition at line 132 of file psim.h.

pLink* pJoint::plink [private]

Definition at line 130 of file psim.h.

the subchain which only contains the link associated with this pjoint

Definition at line 133 of file psim.h.

Definition at line 143 of file psim.h.


The documentation for this class was generated from the following files:


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:21