Classes | Macros | Enumerations | Functions
chain.h File Reference

Classes for defining open/closed kinematic chains. More...

#include <dims_common.h>
#include <fMatrix3.h>
#include <fEulerPara.h>
#include <SceneGraph.h>
#include <list>
#include <cstring>
#include <cstdio>
#include "hrpModelExportDef.h"
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Classes

class  Chain
 The class representing the whole mechanism. May contain multiple characters. More...
 
class  Joint
 The class for representing a joint. More...
 
struct  JointData
 Temporary storage for basic joint information. More...
 
struct  Chain::scale_object
 XML utility functions. More...
 

Macros

#define DEFAULT_MAX_INTEG_ERROR   1e-4
 
#define DEFAULT_MIN_TIMESTEP   1e-6
 Defines for IntegAdaptiveEuler. More...
 

Enumerations

enum  AxisIndex { AXIS_NULL = -1, AXIS_X, AXIS_Y, AXIS_Z }
 Direction of a 1-DOF joint. More...
 
enum  JointType {
  JUNKNOWN = 0, JFIXED, JROTATE, JSLIDE,
  JSPHERE, JFREE
}
 Enums for joint types. More...
 

Functions

char * CharName (const char *_name)
 Extracts the character name from a joint name. More...
 

Detailed Description

Classes for defining open/closed kinematic chains.

Author
Katsu Yamane
Date
06/17/2003

Definition in file chain.h.

Macro Definition Documentation

#define DEFAULT_MAX_INTEG_ERROR   1e-4

Definition at line 32 of file chain.h.

#define DEFAULT_MIN_TIMESTEP   1e-6

Defines for IntegAdaptiveEuler.

Definition at line 31 of file chain.h.

Enumeration Type Documentation

enum AxisIndex

Direction of a 1-DOF joint.

Enumerator
AXIS_NULL 
AXIS_X 
AXIS_Y 
AXIS_Z 

Definition at line 48 of file chain.h.

enum JointType

Enums for joint types.

Enumerator
JUNKNOWN 
JFIXED 

fixed (0DOF)

JROTATE 

rotational (1DOF)

JSLIDE 

prismatic (1DOF)

JSPHERE 

spherical (3DOF)

JFREE 

free (6DOF)

Definition at line 38 of file chain.h.

Function Documentation

char* CharName ( const char *  _name)

Extracts the character name from a joint name.

Definition at line 17 of file chain.cpp.



openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:26