Joint.h File Reference

#include "rdl_dynamics/SpatialAlgebraOperators.h"
#include <assert.h>
#include <iostream>
#include "rdl_dynamics/RdlExceptions.hpp"

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Classes
struct	RobotDynamics::CustomJoint
	CustomJoint is a struct used to create a joint with user defined parameters. This is accomplished by overriding the RobotDynamics::Joint::jcalc methods that calculate each joints kinematic parameters. More...
struct	RobotDynamics::Joint
	Describes a joint relative to the predecessor body. More...

Namespaces
	RobotDynamics
	Namespace for all structures of the RobotDynamics library.

Enumerations
enum	RobotDynamics::JointType {   RobotDynamics::JointTypeUndefined = 0, RobotDynamics::JointTypeRevolute, RobotDynamics::JointTypePrismatic, RobotDynamics::JointTypeRevoluteX,   RobotDynamics::JointTypeRevoluteY, RobotDynamics::JointTypeRevoluteZ, RobotDynamics::JointTypeSpherical, RobotDynamics::JointTypeEulerZYX,   RobotDynamics::JointTypeEulerXYZ, RobotDynamics::JointTypeEulerYXZ, RobotDynamics::JointTypeTranslationXYZ, RobotDynamics::JointTypeFloatingBase,   RobotDynamics::JointTypeFixed, RobotDynamics::JointType1DoF, RobotDynamics::JointType2DoF, RobotDynamics::JointType3DoF,   RobotDynamics::JointType4DoF, RobotDynamics::JointType5DoF, RobotDynamics::JointType6DoF, RobotDynamics::JointTypeCustom }
	General types of joints. More...

Functions
void	RobotDynamics::jcalc (Model &model, unsigned int joint_id, const Math::VectorNd &q, const Math::VectorNd &qdot)
	Computes all variables for a joint model and updates the body frame as well as the body's center of mass frame. More...
void	RobotDynamics::jcalc_X_lambda_S (Model &model, unsigned int joint_id, const Math::VectorNd &q)
Math::SpatialTransform	RobotDynamics::jcalc_XJ (Model &model, unsigned int joint_id, const Math::VectorNd &q)