KDL::Joint Class Reference

This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...

#include <joint.hpp>

List of all members.

Classes
class	joint_type_exception
Public Types
enum	JointType {   RotAxis, RotX, RotY, RotZ,   TransAxis, TransX, TransY, TransZ,   None }
Public Member Functions
const double &	getInertia () const
const std::string &	getName () const
const JointType &	getType () const
const std::string	getTypeName () const
	Joint (const std::string &name, const JointType &type=None, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)
	Joint (const JointType &type=None, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)
	Joint (const std::string &name, const Vector &_origin, const Vector &_axis, const JointType &type, const double &_scale=1, const double &_offset=0, const double &_inertia=0, const double &_damping=0, const double &_stiffness=0)
	Joint (const Vector &_origin, const Vector &_axis, const JointType &type, const double &_scale=1, const double &_offset=0, const double &_inertia=0, const double &_damping=0, const double &_stiffness=0)
Vector	JointAxis () const
Vector	JointOrigin () const
Frame	pose (const double &q) const
Twist	twist (const double &qdot) const
virtual	~Joint ()
Private Attributes
Vector	axis
double	damping
double	inertia
Frame	joint_pose
KDL::Joint::joint_type_exception	joint_type_ex
std::string	name
double	offset
Vector	origin
double	q_previous
double	scale
double	stiffness
Joint::JointType	type

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Detailed Description

This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties.

A simple joint is described by the following properties :

• scale: ratio between motion input and motion output
• offset: between the "physical" and the "logical" zero position.
• type: revolute or translational, along one of the basic frame axes
• inertia, stiffness and damping: scalars representing the physical effects along/about the joint axis only.

Definition at line 45 of file joint.hpp.

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Member Enumeration Documentation

enum KDL::Joint::JointType

Enumerator:

RotAxis
RotX
RotY
RotZ
TransAxis
TransX
TransY
TransZ
None

Definition at line 47 of file joint.hpp.

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Constructor & Destructor Documentation

KDL::Joint::Joint	(	const std::string &	name,
		const JointType &	type = None,
		const double &	scale = 1,
		const double &	offset = 0,
		const double &	inertia = 0,
		const double &	damping = 0,
		const double &	stiffness = 0
	)		[explicit]

Constructor of a joint.

Parameters:

name	of the joint
type	type of the joint, default: Joint::None
scale	scale between joint input and actual geometric movement, default: 1
offset	offset between joint input and actual geometric input, default: 0
inertia	1D inertia along the joint axis, default: 0
damping	1D damping along the joint axis, default: 0
stiffness	1D stiffness along the joint axis, default: 0

Definition at line 27 of file joint.cpp.

KDL::Joint::Joint	(	const JointType &	type = None,
		const double &	scale = 1,
		const double &	offset = 0,
		const double &	inertia = 0,
		const double &	damping = 0,
		const double &	stiffness = 0
	)		[explicit]

Constructor of a joint.

Parameters:

type	type of the joint, default: Joint::None
scale	scale between joint input and actual geometric movement, default: 1
offset	offset between joint input and actual geometric input, default: 0
inertia	1D inertia along the joint axis, default: 0
damping	1D damping along the joint axis, default: 0
stiffness	1D stiffness along the joint axis, default: 0

Definition at line 36 of file joint.cpp.

KDL::Joint::Joint	(	const std::string &	name,
		const Vector &	_origin,
		const Vector &	_axis,
		const JointType &	type,
		const double &	_scale = 1,
		const double &	_offset = 0,
		const double &	_inertia = 0,
		const double &	_damping = 0,
		const double &	_stiffness = 0
	)

Constructor of a joint.

Parameters:

name	of the joint
origin	the origin of the joint
axis	the axis of the joint
scale	scale between joint input and actual geometric movement, default: 1
offset	offset between joint input and actual geometric input, default: 0
inertia	1D inertia along the joint axis, default: 0
damping	1D damping along the joint axis, default: 0
stiffness	1D stiffness along the joint axis, default: 0

Definition at line 45 of file joint.cpp.

KDL::Joint::Joint	(	const Vector &	_origin,
		const Vector &	_axis,
		const JointType &	type,
		const double &	_scale = 1,
		const double &	_offset = 0,
		const double &	_inertia = 0,
		const double &	_damping = 0,
		const double &	_stiffness = 0
	)

Constructor of a joint.

Parameters:

origin	the origin of the joint
axis	the axis of the joint
scale	scale between joint input and actual geometric movement, default: 1
offset	offset between joint input and actual geometric input, default: 0
inertia	1D inertia along the joint axis, default: 0
damping	1D damping along the joint axis, default: 0
stiffness	1D stiffness along the joint axis, default: 0

Definition at line 59 of file joint.cpp.

KDL::Joint::~Joint

(

)

[virtual]

Definition at line 72 of file joint.cpp.

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Member Function Documentation

const double& KDL::Joint::getInertia

(

)

const [inline]

Request the inertia of the joint.

Returns:

const reference to the inertia of the joint

Definition at line 200 of file joint.hpp.

const std::string& KDL::Joint::getName

(

)

const [inline]

Request the name of the joint

Returns:

const reference to the name of the joint

Definition at line 150 of file joint.hpp.

const JointType& KDL::Joint::getType

(

)

const [inline]

Request the type of the joint.

Returns:

const reference to the type

Definition at line 159 of file joint.hpp.

const std::string KDL::Joint::getTypeName

(

)

const [inline]

Request the stringified type of the joint.

Returns:

const string

Definition at line 169 of file joint.hpp.

Vector KDL::Joint::JointAxis

(

)

const

Request the Vector corresponding to the axis of a revolute joint.

Returns:

Vector. e.g (1,0,0) for RotX etc.

Definition at line 131 of file joint.cpp.

Vector KDL::Joint::JointOrigin

(

)

const

Request the Vector corresponding to the origin of a revolute joint.

Returns:

Vector

Definition at line 157 of file joint.cpp.

Frame KDL::Joint::pose

(

const double &

q

)

const

Request the 6D-pose between the beginning and the end of the joint at joint position q

Parameters:

q	the 1D joint position

Returns:

the resulting 6D-pose

Definition at line 76 of file joint.cpp.

Twist KDL::Joint::twist

(

const double &

qdot

)

const

Request the resulting 6D-velocity with a joint velocity qdot

Parameters:

qdot	the 1D joint velocity

Returns:

the resulting 6D-velocity

Definition at line 106 of file joint.cpp.

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Member Data Documentation

Vector KDL::Joint::axis [private]

Definition at line 217 of file joint.hpp.

double KDL::Joint::damping [private]

Definition at line 213 of file joint.hpp.

double KDL::Joint::inertia [private]

Definition at line 212 of file joint.hpp.

Frame KDL::Joint::joint_pose [mutable, private]

Definition at line 218 of file joint.hpp.

KDL::Joint::joint_type_exception KDL::Joint::joint_type_ex [private]

std::string KDL::Joint::name [private]

Definition at line 208 of file joint.hpp.

double KDL::Joint::offset [private]

Definition at line 211 of file joint.hpp.

Vector KDL::Joint::origin [private]

Definition at line 217 of file joint.hpp.

double KDL::Joint::q_previous [mutable, private]

Definition at line 219 of file joint.hpp.

double KDL::Joint::scale [private]

Definition at line 210 of file joint.hpp.

double KDL::Joint::stiffness [private]

Definition at line 214 of file joint.hpp.

Joint::JointType KDL::Joint::type [private]

Definition at line 209 of file joint.hpp.

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

• joint.hpp
• joint.cpp