28 const double& _inertia,
const double& _damping,
const double& _stiffness):
29 name(_name),type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness)
37 const double& _inertia,
const double& _damping,
const double& _stiffness):
46 const double& _offset,
const double& _inertia,
const double& _damping,
const double& _stiffness):
60 const double& _offset,
const double& _inertia,
const double& _damping,
const double& _stiffness):
Joint(const std::string &name, const JointType &type=Fixed, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)
INLINE S Norm(const Rall1d< T, V, S > &value)
static Rotation RotX(double angle)
The Rot... static functions give the value of the appropriate rotation matrix back.
static Rotation RotZ(double angle)
The Rot... static functions give the value of the appropriate rotation matrix back.
Frame pose(const double &q) const
static Rotation RotY(double angle)
The Rot... static functions give the value of the appropriate rotation matrix back.
Vector JointOrigin() const
Rotation M
Orientation of the Frame.
represents both translational and rotational velocities.
A concrete implementation of a 3 dimensional vector class.
KDL::Joint::joint_type_exception joint_type_ex
Vector p
origine of the Frame
represents a frame transformation in 3D space (rotation + translation)
static Rotation Rot2(const Vector &rotvec, double angle)
Along an arbitrary axes. rotvec should be normalized.
Twist twist(const double &qdot) const