RobotDynamics::CustomJoint Struct Reference

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...

#include <Joint.h>

Inheritance diagram for RobotDynamics::CustomJoint:

Public Member Functions
	CustomJoint ()
	Constructor. More...
virtual void	jcalc (Model &model, unsigned int joint_id, const Math::VectorNd &q, const Math::VectorNd &qdot)=0
virtual void	jcalc_X_lambda_S (Model &model, unsigned int joint_id, const Math::VectorNd &q)=0
virtual	~CustomJoint ()
	Destructor. More...

Public Attributes
Math::VectorNd	d_u
Math::MatrixNd	Dinv
unsigned int	mDoFCount
Math::VectorNd	ndof0_vec
Math::MatrixNd	S
Math::MatrixNd	S_o
Math::MatrixNd	U
Math::VectorNd	u
Math::SpatialTransform	XJ

Detailed Description

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.

Definition at line 662 of file Joint.h.

Constructor & Destructor Documentation

RobotDynamics::CustomJoint::CustomJoint ( )

inline

Constructor.

Definition at line 667 of file Joint.h.

virtual RobotDynamics::CustomJoint::~CustomJoint ( )

inlinevirtual

Destructor.

Definition at line 674 of file Joint.h.

Member Function Documentation

virtual void RobotDynamics::CustomJoint::jcalc ( Model &  model, unsigned int  joint_id, const Math::VectorNd &  q, const Math::VectorNd &  qdot  )

pure virtual

Parameters

model
joint_id
q
qdot

Implemented in CustomEulerZYXJoint, CustomEulerZYXJoint, CustomJointTypeRevoluteX, CustomJointTypeRevoluteX, and RdlCustomEulerZYXJoint.

virtual void RobotDynamics::CustomJoint::jcalc_X_lambda_S ( Model &  model, unsigned int  joint_id, const Math::VectorNd &  q  )

pure virtual

Implemented in CustomEulerZYXJoint, CustomEulerZYXJoint, CustomJointTypeRevoluteX, CustomJointTypeRevoluteX, and RdlCustomEulerZYXJoint.

Member Data Documentation

Math::VectorNd RobotDynamics::CustomJoint::d_u

Definition at line 695 of file Joint.h.

Math::MatrixNd RobotDynamics::CustomJoint::Dinv

Definition at line 693 of file Joint.h.

unsigned int RobotDynamics::CustomJoint::mDoFCount

Degrees of freedom of the joint

Definition at line 688 of file Joint.h.

Math::VectorNd RobotDynamics::CustomJoint::ndof0_vec

mDoFCount x 1 vector of zeros

Definition at line 696 of file Joint.h.

Math::MatrixNd RobotDynamics::CustomJoint::S

Motion subspace map

Definition at line 690 of file Joint.h.

Math::MatrixNd RobotDynamics::CustomJoint::S_o

Motion subspace map

Definition at line 691 of file Joint.h.

Math::MatrixNd RobotDynamics::CustomJoint::U

Definition at line 692 of file Joint.h.

Math::VectorNd RobotDynamics::CustomJoint::u

Definition at line 694 of file Joint.h.

Math::SpatialTransform RobotDynamics::CustomJoint::XJ

Joint state transform. Transform from parent

Definition at line 689 of file Joint.h.

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

• Joint.h