Public Member Functions | Private Member Functions | Private Attributes | Friends | List of all members
pJoint Class Reference

Class for representing "handle"; two pJoint instances are attached to both sides of each joint. More...

#include <psim.h>

Public Member Functions

JointGetJoint ()
 
pJointPair ()
 
int ParentSide ()
 
 pJoint (Joint *_joint, Joint *_link_side)
 
 ~pJoint ()
 

Private Member Functions

void calc_dvel ()
 
void calc_jacobian ()
 
void calc_jdot ()
 
void dump (ostream &ost)
 

Private Attributes

fVec acc_final
 
fVec colf_final
 
fVec dvel
 
fVec f_final
 
fMat J
 
fVec Jdot
 
Jointjoint
 
Jointlink_side
 null in parent side of space joint More...
 
pJointpair
 
int parent_side
 link is in parent side? More...
 
pLinkplink
 
pSubChainsubchain
 the subchain which only contains the link associated with this pjoint More...
 
fVec vel_final
 

Friends

class pLink
 
class pSim
 
class pSubChain
 

Detailed Description

Class for representing "handle"; two pJoint instances are attached to both sides of each joint.

Definition at line 81 of file psim.h.

Constructor & Destructor Documentation

pJoint::pJoint ( Joint _joint,
Joint _link_side 
)
inline

Definition at line 87 of file psim.h.

pJoint::~pJoint ( )
inline

Definition at line 110 of file psim.h.

Member Function Documentation

void pJoint::calc_dvel ( )
private

Definition at line 585 of file update.cpp.

void pJoint::calc_jacobian ( )
private

Definition at line 164 of file update.cpp.

void pJoint::calc_jdot ( )
private

Definition at line 802 of file update.cpp.

void pJoint::dump ( ostream &  ost)
private

Definition at line 363 of file psim.cpp.

Joint* pJoint::GetJoint ( )
inline

Definition at line 116 of file psim.h.

pJoint* pJoint::Pair ( )
inline

Definition at line 113 of file psim.h.

int pJoint::ParentSide ( )
inline

Definition at line 119 of file psim.h.

Friends And Related Function Documentation

friend class pLink
friend

Definition at line 84 of file psim.h.

friend class pSim
friend

Definition at line 83 of file psim.h.

friend class pSubChain
friend

Definition at line 85 of file psim.h.

Member Data Documentation

fVec pJoint::acc_final
private

Definition at line 138 of file psim.h.

fVec pJoint::colf_final
private

Definition at line 142 of file psim.h.

fVec pJoint::dvel
private

Definition at line 141 of file psim.h.

fVec pJoint::f_final
private

Definition at line 137 of file psim.h.

fMat pJoint::J
private

Definition at line 135 of file psim.h.

fVec pJoint::Jdot
private

Definition at line 136 of file psim.h.

Joint* pJoint::joint
private

Definition at line 128 of file psim.h.

Joint* pJoint::link_side
private

null in parent side of space joint

Definition at line 129 of file psim.h.

pJoint* pJoint::pair
private

Definition at line 131 of file psim.h.

int pJoint::parent_side
private

link is in parent side?

Definition at line 132 of file psim.h.

pLink* pJoint::plink
private

Definition at line 130 of file psim.h.

pSubChain* pJoint::subchain
private

the subchain which only contains the link associated with this pjoint

Definition at line 133 of file psim.h.

fVec pJoint::vel_final
private

Definition at line 143 of file psim.h.


The documentation for this class was generated from the following files:


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:29