Public Member Functions | Public Attributes
JointData Struct Reference

Temporary storage for basic joint information. More...

#include <chain.h>

List of all members.

Public Member Functions

 JointData ()
 JointData (const char *_name, const char *_parent_name, JointType _j_type, const fVec3 &_rpos, const fMat33 &_ratt, AxisIndex _axis_index, double _mass, const fMat33 &_inertia, const fVec3 &_com, int _t_given=true)
 JointData (const JointData &ref)
 ~JointData ()

Public Attributes

AxisIndex axis_index
 direction of the joint axis (only for 1DOF joints)
fVec3 com
 link center of mass in local frame
fMat33 inertia
 link inertia
JointType j_type
 joint type
double mass
 link mass
char * name
 joint name
char * parent_name
 parent joint's name
fMat33 rel_att
 initial orientation in parent joint's frame
fVec3 rel_pos
 initial position in parent joint's frame
int t_given
 if true, the joint is torque controlled, otherwise position controlled (high-gain control)

Detailed Description

Temporary storage for basic joint information.

Definition at line 61 of file chain.h.


Constructor & Destructor Documentation

JointData::JointData ( ) [inline]

Definition at line 63 of file chain.h.

JointData::JointData ( const char *  _name,
const char *  _parent_name,
JointType  _j_type,
const fVec3 _rpos,
const fMat33 _ratt,
AxisIndex  _axis_index,
double  _mass,
const fMat33 _inertia,
const fVec3 _com,
int  _t_given = true 
) [inline]

Definition at line 75 of file chain.h.

JointData::JointData ( const JointData ref) [inline]

Definition at line 100 of file chain.h.

JointData::~JointData ( ) [inline]

Definition at line 123 of file chain.h.


Member Data Documentation

direction of the joint axis (only for 1DOF joints)

Definition at line 133 of file chain.h.

link center of mass in local frame

Definition at line 136 of file chain.h.

link inertia

Definition at line 135 of file chain.h.

joint type

Definition at line 130 of file chain.h.

link mass

Definition at line 134 of file chain.h.

joint name

Definition at line 128 of file chain.h.

parent joint's name

Definition at line 129 of file chain.h.

initial orientation in parent joint's frame

Definition at line 132 of file chain.h.

initial position in parent joint's frame

Definition at line 131 of file chain.h.

if true, the joint is torque controlled, otherwise position controlled (high-gain control)

Definition at line 137 of file chain.h.


The documentation for this struct was generated from the following file:


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