94 Joint(
const std::string& name,
const Vector& _origin,
const Vector& _axis,
const JointType&
type,
const double& _scale=1,
const double& _offset=0,
95 const double& _inertia=0,
const double& _damping=0,
const double& _stiffness=0);
110 Joint(
const Vector& _origin,
const Vector& _axis,
const JointType& type,
const double& _scale=1,
const double& _offset=0,
111 const double& _inertia=0,
const double& _damping=0,
const double& _stiffness=0);
244 virtual const char*
what()
const throw(){
245 return "Joint Type excption";}
const double & getStiffness() const
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)
virtual const char * what() const
Frame pose(const double &q) const
Vector JointOrigin() const
represents both translational and rotational velocities.
const std::string & getName() const
A concrete implementation of a 3 dimensional vector class.
KDL::Joint::joint_type_exception joint_type_ex
represents a frame transformation in 3D space (rotation + translation)
const double & getInertia() const
const double & getDamping() const
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
const std::string getTypeName() const
Twist twist(const double &qdot) const
const JointType & getType() const