This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...

#include <joint.hpp>

Classes
class	joint_type_exception

Public Types
enum	JointType { RotAxis, RotX, RotY, RotZ, TransAxis, TransX, TransY, TransZ, None }

Public Member Functions
const double &	getInertia () const

const std::string &	getName () const

const JointType &	getType () const

const std::string	getTypeName () const

	Joint (const std::string &name, const JointType &type=None, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)

	Joint (const JointType &type=None, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)

	Joint (const std::string &name, const Vector &_origin, const Vector &_axis, const JointType &type, const double &_scale=1, const double &_offset=0, const double &_inertia=0, const double &_damping=0, const double &_stiffness=0)

	Joint (const Vector &_origin, const Vector &_axis, const JointType &type, const double &_scale=1, const double &_offset=0, const double &_inertia=0, const double &_damping=0, const double &_stiffness=0)

Vector	JointAxis () const

Vector	JointOrigin () const

Frame	pose (const double &q) const

Twist	twist (const double &qdot) const

virtual	~Joint ()

Private Attributes
Vector	axis

double	damping

double	inertia

Frame	joint_pose

KDL::Joint::joint_type_exception	joint_type_ex

std::string	name

double	offset

Vector	origin

double	q_previous

double	scale

double	stiffness

Joint::JointType	type

Detailed Description

This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties.

A simple joint is described by the following properties :

scale: ratio between motion input and motion output
offset: between the "physical" and the "logical" zero position.
type: revolute or translational, along one of the basic frame axes
- inertia, stiffness and damping: scalars representing the physical effects along/about the joint axis only.

Definition at line 45 of file joint.hpp.

Member Enumeration Documentation

enum KDL::Joint::JointType

Enumerator
RotAxis
RotX
RotY
RotZ
TransAxis
TransX
TransY
TransZ
None

Definition at line 47 of file joint.hpp.

Constructor & Destructor Documentation

KDL::Joint::Joint	(	const std::string &	name,
		const JointType &	type = `None`,
		const double &	scale = `1`,
		const double &	offset = `0`,
		const double &	inertia = `0`,
		const double &	damping = `0`,
		const double &	stiffness = `0`
	)

explicit

Constructor of a joint.

Parameters

name	of the joint
type	type of the joint, default: Joint::None
scale	scale between joint input and actual geometric movement, default: 1
offset	offset between joint input and actual geometric input, default: 0
inertia	1D inertia along the joint axis, default: 0
damping	1D damping along the joint axis, default: 0
stiffness	1D stiffness along the joint axis, default: 0

Definition at line 27 of file joint.cpp.

KDL::Joint::Joint	(	const JointType &	type = `None`,
		const double &	scale = `1`,
		const double &	offset = `0`,
		const double &	inertia = `0`,
		const double &	damping = `0`,
		const double &	stiffness = `0`
	)

explicit

Constructor of a joint.

Parameters

type	type of the joint, default: Joint::None
scale	scale between joint input and actual geometric movement, default: 1
offset	offset between joint input and actual geometric input, default: 0
inertia	1D inertia along the joint axis, default: 0
damping	1D damping along the joint axis, default: 0
stiffness	1D stiffness along the joint axis, default: 0

Definition at line 36 of file joint.cpp.

KDL::Joint::Joint	(	const std::string &	name,
		const Vector &	_origin,
		const Vector &	_axis,
		const JointType &	type,
		const double &	_scale = `1`,
		const double &	_offset = `0`,
		const double &	_inertia = `0`,
		const double &	_damping = `0`,
		const double &	_stiffness = `0`
	)

Constructor of a joint.

Parameters

name	of the joint
origin	the origin of the joint
axis	the axis of the joint
scale	scale between joint input and actual geometric movement, default: 1
offset	offset between joint input and actual geometric input, default: 0
inertia	1D inertia along the joint axis, default: 0
damping	1D damping along the joint axis, default: 0
stiffness	1D stiffness along the joint axis, default: 0

Definition at line 45 of file joint.cpp.

KDL::Joint::Joint	(	const Vector &	_origin,
		const Vector &	_axis,
		const JointType &	type,
		const double &	_scale = `1`,
		const double &	_offset = `0`,
		const double &	_inertia = `0`,
		const double &	_damping = `0`,
		const double &	_stiffness = `0`
	)

Constructor of a joint.

Parameters

origin	the origin of the joint
axis	the axis of the joint
scale	scale between joint input and actual geometric movement, default: 1
offset	offset between joint input and actual geometric input, default: 0
inertia	1D inertia along the joint axis, default: 0
damping	1D damping along the joint axis, default: 0
stiffness	1D stiffness along the joint axis, default: 0

Definition at line 59 of file joint.cpp.

KDL::Joint::~Joint ( )

virtual

Definition at line 72 of file joint.cpp.

Member Function Documentation

const double& KDL::Joint::getInertia ( ) const

inline

Request the inertia of the joint.

Returns: const reference to the inertia of the joint

Definition at line 200 of file joint.hpp.

const std::string& KDL::Joint::getName ( ) const

inline

Request the name of the joint

Returns: const reference to the name of the joint

Definition at line 150 of file joint.hpp.

const JointType& KDL::Joint::getType ( ) const

inline

Request the type of the joint.

Returns: const reference to the type

Definition at line 159 of file joint.hpp.

const std::string KDL::Joint::getTypeName ( ) const

inline

Request the stringified type of the joint.

Returns: const string

Definition at line 169 of file joint.hpp.

Vector KDL::Joint::JointAxis ( ) const

Request the Vector corresponding to the axis of a revolute joint.

Returns: Vector. e.g (1,0,0) for RotX etc.

Definition at line 131 of file joint.cpp.

Vector KDL::Joint::JointOrigin ( ) const

Request the Vector corresponding to the origin of a revolute joint.

Returns: Vector

Definition at line 157 of file joint.cpp.

Frame KDL::Joint::pose ( const double & q ) const

Request the 6D-pose between the beginning and the end of the joint at joint position q

Parameters

q	the 1D joint position

Returns: the resulting 6D-pose

Definition at line 76 of file joint.cpp.

Twist KDL::Joint::twist ( const double & qdot ) const

Request the resulting 6D-velocity with a joint velocity qdot

Parameters

qdot	the 1D joint velocity

Returns: the resulting 6D-velocity

Definition at line 106 of file joint.cpp.

Member Data Documentation

Vector KDL::Joint::axis

private

Definition at line 217 of file joint.hpp.

double KDL::Joint::damping

private

Definition at line 213 of file joint.hpp.

double KDL::Joint::inertia

private

Definition at line 212 of file joint.hpp.

Frame KDL::Joint::joint_pose

mutableprivate

Definition at line 218 of file joint.hpp.

KDL::Joint::joint_type_exception KDL::Joint::joint_type_ex

private

std::string KDL::Joint::name

private

Definition at line 208 of file joint.hpp.

double KDL::Joint::offset

private

Definition at line 211 of file joint.hpp.

Vector KDL::Joint::origin

private

Definition at line 217 of file joint.hpp.

double KDL::Joint::q_previous

mutableprivate

Definition at line 219 of file joint.hpp.

double KDL::Joint::scale

private

Definition at line 210 of file joint.hpp.

double KDL::Joint::stiffness

private

Definition at line 214 of file joint.hpp.

Joint::JointType KDL::Joint::type

private

Definition at line 209 of file joint.hpp.

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

Classes

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation