Describes a joint relative to the predecessor body. More...

#include <Joint.h>

Public Member Functions
	Joint ()

	Joint (JointType type)

	Joint (JointType type, int degreesOfFreedom)

	Joint (const Joint &joint)

	Joint (const JointType joint_type, const Math::Vector3d &joint_axis)
	Constructs a joint from the given cartesian parameters. More...

	Joint (const Math::SpatialVector &axis_0)
	Constructs a 1 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1)
	Constructs a 2 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1, const Math::SpatialVector &axis_2)
	Constructs a 3 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1, const Math::SpatialVector &axis_2, const Math::SpatialVector &axis_3)
	Constructs a 4 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1, const Math::SpatialVector &axis_2, const Math::SpatialVector &axis_3, const Math::SpatialVector &axis_4)
	Constructs a 5 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1, const Math::SpatialVector &axis_2, const Math::SpatialVector &axis_3, const Math::SpatialVector &axis_4, const Math::SpatialVector &axis_5)
	Constructs a 6 DoF joint with the given motion subspaces. More...

Joint &	operator= (const Joint &joint)

bool	validate_spatial_axis (Math::SpatialVector &axis)
	Checks whether we have pure rotational or translational axis. More...

	~Joint ()

Public Attributes
unsigned int	custom_joint_index

unsigned int	mDoFCount
	Number of degrees of freedom of the joint. Note: CustomJoints. More...

Math::SpatialVector *	mJointAxes
	The spatial axes of the joint. More...

JointType	mJointType
	Type of joint. More...

unsigned int	q_index

Detailed Description

Describes a joint relative to the predecessor body.

Note: The construction of a Joint is NOT a realtime safe procedure, so be sure you are not creating temporary joints at runtime. For maximum performance, you should create all joints at config time and just reference those.

This class contains all information required for one single joint. This contains the joint type and the axis of the joint. See Joint Modeling for detailed description.

Definition at line 228 of file Joint.h.

Constructor & Destructor Documentation

RobotDynamics::Joint::Joint ( )

inline

Definition at line 230 of file Joint.h.

RobotDynamics::Joint::Joint ( JointType type )

inlineexplicit

Definition at line 234 of file Joint.h.

RobotDynamics::Joint::Joint	(	JointType	type,
		int	degreesOfFreedom
	)

inline

Definition at line 323 of file Joint.h.

RobotDynamics::Joint::Joint ( const Joint & joint )

inline

Definition at line 341 of file Joint.h.

RobotDynamics::Joint::~Joint ( )

inline

Definition at line 375 of file Joint.h.

RobotDynamics::Joint::Joint	(	const JointType	joint_type,
		const Math::Vector3d &	joint_axis
	)

inline

Constructs a joint from the given cartesian parameters.

This constructor creates all the required spatial values for the given cartesian parameters.

Parameters

joint_type	whether the joint is revolute or prismatic
joint_axis	the axis of rotation or translation

Definition at line 395 of file Joint.h.

RobotDynamics::Joint::Joint ( const Math::SpatialVector & axis_0 )

inlineexplicit

Constructs a 1 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0 Motion subspace for axis 0

Definition at line 429 of file Joint.h.

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1
	)

inline

Constructs a 2 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1

Definition at line 463 of file Joint.h.

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1,
		const Math::SpatialVector &	axis_2
	)

inline

Constructs a 3 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1
axis_2	Motion subspace for axis 2

Definition at line 484 of file Joint.h.

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1,
		const Math::SpatialVector &	axis_2,
		const Math::SpatialVector &	axis_3
	)

inline

Constructs a 4 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1
axis_2	Motion subspace for axis 2
axis_3	Motion subspace for axis 3

Definition at line 510 of file Joint.h.

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1,
		const Math::SpatialVector &	axis_2,
		const Math::SpatialVector &	axis_3,
		const Math::SpatialVector &	axis_4
	)

inline

Constructs a 5 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1
axis_2	Motion subspace for axis 2
axis_3	Motion subspace for axis 3
axis_4	Motion subspace for axis 4

Definition at line 539 of file Joint.h.

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1,
		const Math::SpatialVector &	axis_2,
		const Math::SpatialVector &	axis_3,
		const Math::SpatialVector &	axis_4,
		const Math::SpatialVector &	axis_5
	)

inline

Constructs a 6 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1
axis_2	Motion subspace for axis 2
axis_3	Motion subspace for axis 3
axis_4	Motion subspace for axis 4
axis_5	Motion subspace for axis 5

Definition at line 572 of file Joint.h.

Member Function Documentation

Joint& RobotDynamics::Joint::operator= ( const Joint & joint )

inline

Definition at line 351 of file Joint.h.

bool RobotDynamics::Joint::validate_spatial_axis ( Math::SpatialVector & axis )

inline

Checks whether we have pure rotational or translational axis.

This function is mainly used to print out warnings when specifying an axis that might not be intended.

Definition at line 598 of file Joint.h.

Member Data Documentation

unsigned int RobotDynamics::Joint::custom_joint_index

Definition at line 635 of file Joint.h.

unsigned int RobotDynamics::Joint::mDoFCount

Number of degrees of freedom of the joint. Note: CustomJoints.

Definition at line 633 of file Joint.h.

Math::SpatialVector* RobotDynamics::Joint::mJointAxes

The spatial axes of the joint.

Definition at line 625 of file Joint.h.

JointType RobotDynamics::Joint::mJointType

Type of joint.

Definition at line 628 of file Joint.h.

unsigned int RobotDynamics::Joint::q_index

Definition at line 634 of file Joint.h.

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

Joint.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation