The class for representing a joint. More...

#include <chain.h>

Public Member Functions
int	CalcJacobian (fMat &J)
	The Jacobian matrix of position/orientation w.r.t. the joint values. More...

int	CalcJacobian2 (fMat *J2)
	2nd-order derivatives of the Jacobian matrix. More...

int	CalcJdot (fVec &jdot)
	Jdot x thdot. More...

char *	CharName () const
	Returns the character name. More...

int	DescendantDOF ()
	Total DOF of the descendants (end link side). More...

int	DescendantNumJoints ()
	Total number of joints of the descendants (end link side). More...

int	isAscendant (Joint *target)
	Identifies whether the target joint is a direct ascendant. More...

int	isDescendant (Joint *target)
	Identifies whether the target joint is a direct descendant. More...

	Joint ()

	Joint (const char *name, JointType jt=JUNKNOWN, const fVec3 &rpos=0.0, const fMat33 &ratt=1.0, AxisIndex _axis_index=AXIS_NULL, int t_given=true)

	Joint (JointData jdata, const char charname)

double	Scale ()
	Returns the scale applied to the joint. More...

void	SetFixedJointType (const fVec3 &rpos, const fMat33 &ratt)
	Set joint type to fixed. More...

void	SetFreeJointType (const fVec3 &rpos, const fMat33 &ratt)
	Set joint type to free. More...

void	SetJointData (JointData jdata, const char charname)

int	SetJointOrientation (const fMat33 &r)
	Set relative orientation. More...

int	SetJointPosition (const fVec3 &p)
	Set relative position. More...

void	SetName (const char _name, const char _charname=0)
	Change the joint name. More...

void	SetRotateJointType (const fVec3 &rpos, const fMat33 &ratt, AxisIndex ai)
	Set joint type to rotational. More...

void	SetSlideJointType (const fVec3 &rpos, const fMat33 &ratt, AxisIndex ai)
	Set joint type to prismatic. More...

void	SetSphereJointType (const fVec3 &rpos, const fMat33 &ratt)
	Set joint type to spherical. More...

double	TotalMass ()
	Returns the total mass of the child links. More...

void	UpdateJointType ()

	~Joint ()

1DOF joints
Obtain/set the joint value/velocity/acceleration/force of a 1-DOF joint.
int	SetJointValue (double _q)

int	SetJointVel (double _qd)

int	SetJointAcc (double _qdd)

int	GetJointValue (double &_q)

int	GetJointVel (double &_qd)

int	GetJointAcc (double &_qdd)

int	SetJointForce (double _tau)

int	GetJointForce (double &_tau)

3DOF joints
Obtain/set the joint value/velocity/acceleration/force of a 3-DOF joint.
int	SetJointValue (const fMat33 &r)

int	SetJointValue (const fEulerPara &ep)

int	SetJointVel (const fVec3 &rd)

int	SetJointAcc (const fVec3 &rdd)

int	SetJointAcc (double ax, double ay, double az)

int	GetJointValue (fMat33 &r)

int	GetJointVel (fVec3 &rd)

int	GetJointAcc (fVec3 &rdd)

int	SetJointForce (const fVec3 &_n3)

int	GetJointForce (fVec3 &_n3)

6DOF joints
Obtain/set the joint value/velocity/acceleration/force of a 6-DOF joint.
int	SetJointValue (const fVec3 &p, const fMat33 &r)

int	SetJointValue (const fVec3 &p, const fEulerPara &ep)

int	SetJointVel (const fVec3 &pd, const fVec3 &rd)

int	SetJointAcc (const fVec3 &pdd, const fVec3 &rdd)

int	SetJointAcc (double lx, double ly, double lz, double ax, double ay, double az)

int	GetJointValue (fVec3 &p, fMat33 &r)

int	GetJointVel (fVec3 &pd, fVec3 &rd)

int	GetJointAcc (fVec3 &pdd, fVec3 &rdd)

int	SetJointForce (const fVec3 &_f3, const fVec3 &_n3)

int	GetJointForce (fVec3 &_f3, fVec3 &_n3)

Public Attributes
User-specified joint parameters
Joint *	parent
	pointer to the parent joint More...

Joint *	brother
	pointer to the brother joint More...

Joint *	child
	pointer to the child joint More...

Joint *	real
	pointer to the real (connected) joint; for closed chains. More...

fVec3	rpos_real
	relative position in the real joint frame More...

fMat33	ratt_real
	relative orientation in the real joint frame More...

char *	name
	joint name (including the character name) More...

char *	basename
	joint base name (without the character name) More...

char *	realname
	name of the real joint (for closed chains) More...

JointType	j_type
	joint type More...

fVec3	axis
	joint axis in local frame (for 1DOF joints) More...

fVec3	init_pos
	origin of the joint value (for prismatic joints) More...

fMat33	init_att
	origin of the joint value (for rotational joints) More...

fVec3	rel_pos
	(initial) position in parent joint's frame (for 0/3/6 DOF joints) More...

fMat33	rel_att
	(initial) orientation in parent joint's frame (for 0/3/6 DOF joints) More...

fEulerPara	rel_ep
	Euler parameter representation of `rel_att` (for 0/3/6 DOF joints) More...

double	mass
	mass More...

fMat33	inertia
	intertia More...

fVec3	loc_com
	center of mass in local frame More...

double	gear_ratio

double	rotor_inertia

int	t_given
	torque or motion controlled More...

Variables automatically set or computed
int	n_dof
	degrees of freedom (0/1/3/6) More...

int	n_thrust
	DOF for motion controlled joints. More...

int	n_root_dof
	total DOF in the root side More...

int	i_value
	index in all joint values More...

int	i_dof
	index in all DOF More...

int	i_thrust
	index in all motion controlled joints More...

int	i_joint
	index of the joint More...

double	q
	joint value (for 1DOF joints) More...

double	qd
	joint velocity (for 1DOF joints) More...

double	qdd
	joint acceleration (for 1DOF joints) More...

fVec3	rel_lin_vel

fVec3	rel_ang_vel

fVec3	rel_lin_acc

fVec3	rel_ang_acc

double	tau
	joint force/torque (for 1DOF joints) More...

fVec3	tau_f
	joint force for 6DOF joints More...

fVec3	tau_n
	joint torque for 3 and 6 DOF joints More...

fVec3	ext_force
	external force More...

fVec3	ext_moment
	external moment around the local frame More...

results of forward kinematics computation
fVec3	abs_pos
	absolute position More...

fMat33	abs_att
	absolute orientation More...

fVec3	loc_lin_vel
	linear velocity in local frame More...

fVec3	loc_ang_vel
	angular velocity in local frame More...

fVec3	loc_com_vel
	com velocity in local frame More...

fVec3	loc_lin_acc
	linear acceleration in local frame More...

fVec3	loc_ang_acc
	angular acceleration in local frame More...

fVec3	loc_com_acc
	com acceleration in local frame More...

Results of inverse dynamics computation
force/moment applied to joints/links
fVec3	joint_f

fVec3	total_f

fVec3	joint_n

fVec3	total_n

Velocities and accelerations in parent joint's frame for integration
fVec3	p_lin_vel

fEulerPara	p_ep_dot

fVec3	p_ang_vel

fVec3	p_lin_acc

fVec3	p_ang_acc

Protected Member Functions
void	_init_virtual ()

void	add_child (Joint *j)

void	calc_acceleration ()

int	calc_jacobian (fMat &J, Joint *target)

int	calc_jacobian_2 (fMat J, Joint target)

int	calc_jacobian_2_free_sub (fMat J, Joint target, Joint *j1)

int	calc_jacobian_2_rotate_rotate (fMat J, Joint target, Joint *j1, const fVec3 &axis1, int index1, const fVec3 &axis2, int index2)

int	calc_jacobian_2_rotate_slide (fMat J, Joint target, Joint *jk, const fVec3 &k_axis, int k_index, const fVec3 &loc_axis, int loc_index)

int	calc_jacobian_2_rotate_sub (fMat J, Joint target, Joint *j1)

int	calc_jacobian_2_slide_rotate (fMat J, Joint target, Joint *jk, const fVec3 &k_axis, int k_index, const fVec3 &loc_axis, int loc_index)

int	calc_jacobian_2_slide_sub (fMat J, Joint target, Joint *j1)

int	calc_jacobian_2_sphere_sub (fMat J, Joint target, Joint *j1)

int	calc_jacobian_free (fMat &J, Joint *target)

int	calc_jacobian_rotate (fMat &J, Joint *target)

int	calc_jacobian_slide (fMat &J, Joint *target)

int	calc_jacobian_sphere (fMat &J, Joint *target)

void	calc_joint_force (fVec &tau)

void	calc_position ()

void	calc_velocity ()

void	clear ()

void	clear_data ()

int	clear_ext_force ()

int	clear_joint_force ()

double	com_jacobian (fMat &J, fVec3 &com, const char *chname)

int	descendant_dof ()

int	descendant_num_joints ()

Joint *	find_joint (const char n, const char charname)

Joint *	find_joint (int _id)

int	get_joint_acc (fVec &accs)

int	get_joint_force (fVec &forces)

void	get_joint_list (Joint **joints)

void	get_joint_name_list (char **jnames)

int	get_joint_value (fVec &values)

int	get_joint_vel (fVec &vels)

void	init ()

void	init_arrays ()

void	init_virtual ()

void	inv_dyn ()

void	inv_dyn_1 ()

void	inv_dyn_2 ()

int	is_descendant (Joint cur, Joint target)

int	post_integrate ()

int	pre_integrate ()

int	remove_child (Joint *j)

int	save (ostream &ost, int indent, const char *charname) const

int	save_xml (ostream &ost, int indent, const char *charname) const

int	set_joint_acc (const fVec &accs)

int	set_joint_force (const fVec &forces)

int	set_joint_value (const fVec &values)

int	set_joint_vel (const fVec &vels)

double	total_com (fVec3 &com, const char *chname)

double	total_mass ()

Protected Attributes
Chain *	chain

Private Attributes
double	cur_scale

Friends
class	Chain

Detailed Description

The class for representing a joint.

Definition at line 538 of file chain.h.

Constructor & Destructor Documentation

◆ Joint() [1/3]

Joint::Joint ( )

Definition at line 121 of file chain.cpp.

◆ Joint() [2/3]

Joint::Joint	(	const char *	name,
		JointType	jt = `JUNKNOWN`,
		const fVec3 &	rpos = `0.0`,
		const fMat33 &	ratt = `1.0`,
		AxisIndex	_axis_index = `AXIS_NULL`,
		int	t_given = `true`
	)

Definition at line 130 of file chain.cpp.

◆ Joint() [3/3]

Joint::Joint	(	JointData *	jdata,
		const char *	charname
	)

Definition at line 172 of file chain.cpp.

◆ ~Joint()

Joint::~Joint ( )

Definition at line 292 of file chain.cpp.

Member Function Documentation

◆ _init_virtual()

void Joint::_init_virtual ( )

protected

Definition at line 278 of file init.cpp.

◆ add_child()

void Joint::add_child ( Joint * j )

protected

Definition at line 157 of file edit.cpp.

◆ calc_acceleration()

void Joint::calc_acceleration ( )

protected

Definition at line 80 of file fk.cpp.

◆ calc_jacobian()

int Joint::calc_jacobian	(	fMat &	J,
		Joint *	target
	)

protected

Definition at line 127 of file jacobi.cpp.

◆ calc_jacobian_2()

int Joint::calc_jacobian_2	(	fMat *	J,
		Joint *	target
	)

protected

Definition at line 310 of file jacobi.cpp.

◆ calc_jacobian_2_free_sub()

int Joint::calc_jacobian_2_free_sub	(	fMat *	J,
		Joint *	target,
		Joint *	j1
	)

protected

Definition at line 454 of file jacobi.cpp.

◆ calc_jacobian_2_rotate_rotate()

int Joint::calc_jacobian_2_rotate_rotate	(	fMat *	J,
		Joint *	target,
		Joint *	j1,
		const fVec3 &	axis1,
		int	index1,
		const fVec3 &	axis2,
		int	index2
	)

protected

Definition at line 537 of file jacobi.cpp.

◆ calc_jacobian_2_rotate_slide()

int Joint::calc_jacobian_2_rotate_slide	(	fMat *	J,
		Joint *	target,
		Joint *	jk,
		const fVec3 &	k_axis,
		int	k_index,
		const fVec3 &	loc_axis,
		int	loc_index
	)

protected

Definition at line 599 of file jacobi.cpp.

◆ calc_jacobian_2_rotate_sub()

int Joint::calc_jacobian_2_rotate_sub	(	fMat *	J,
		Joint *	target,
		Joint *	j1
	)

protected

Definition at line 334 of file jacobi.cpp.

◆ calc_jacobian_2_slide_rotate()

int Joint::calc_jacobian_2_slide_rotate	(	fMat *	J,
		Joint *	target,
		Joint *	jk,
		const fVec3 &	k_axis,
		int	k_index,
		const fVec3 &	loc_axis,
		int	loc_index
	)

protected

Definition at line 579 of file jacobi.cpp.

◆ calc_jacobian_2_slide_sub()

int Joint::calc_jacobian_2_slide_sub	(	fMat *	J,
		Joint *	target,
		Joint *	j1
	)

protected

Definition at line 365 of file jacobi.cpp.

◆ calc_jacobian_2_sphere_sub()

int Joint::calc_jacobian_2_sphere_sub	(	fMat *	J,
		Joint *	target,
		Joint *	j1
	)

protected

Definition at line 392 of file jacobi.cpp.

◆ calc_jacobian_free()

int Joint::calc_jacobian_free	(	fMat &	J,
		Joint *	target
	)

protected

Definition at line 220 of file jacobi.cpp.

◆ calc_jacobian_rotate()

int Joint::calc_jacobian_rotate	(	fMat &	J,
		Joint *	target
	)

protected

Definition at line 150 of file jacobi.cpp.

◆ calc_jacobian_slide()

int Joint::calc_jacobian_slide	(	fMat &	J,
		Joint *	target
	)

protected

Definition at line 172 of file jacobi.cpp.

◆ calc_jacobian_sphere()

int Joint::calc_jacobian_sphere	(	fMat &	J,
		Joint *	target
	)

protected

Definition at line 192 of file jacobi.cpp.

◆ calc_joint_force()

void Joint::calc_joint_force ( fVec & tau )

protected

Definition at line 73 of file id.cpp.

◆ calc_position()

void Joint::calc_position ( )

protected

Definition at line 21 of file fk.cpp.

◆ calc_velocity()

void Joint::calc_velocity ( )

protected

Definition at line 46 of file fk.cpp.

◆ CalcJacobian()

int Joint::CalcJacobian ( fMat & J )

The Jacobian matrix of position/orientation w.r.t. the joint values.

Definition at line 119 of file jacobi.cpp.

◆ CalcJacobian2()

int Joint::CalcJacobian2 ( fMat * J2 )

2nd-order derivatives of the Jacobian matrix.

Definition at line 296 of file jacobi.cpp.

◆ CalcJdot()

int Joint::CalcJdot ( fVec & jdot )

Jdot x thdot.

Definition at line 261 of file jacobi.cpp.

◆ CharName()

char* Joint::CharName ( ) const

inline

Returns the character name.

Definition at line 648 of file chain.h.

◆ clear()

void Joint::clear ( void )

protected

Definition at line 226 of file chain.cpp.

◆ clear_data()

void Joint::clear_data ( )

protected

Definition at line 160 of file vary.cpp.

◆ clear_ext_force()

int Joint::clear_ext_force ( )

protected

Definition at line 934 of file joint.cpp.

◆ clear_joint_force()

int Joint::clear_joint_force ( )

protected

Definition at line 918 of file joint.cpp.

◆ com_jacobian()

double Joint::com_jacobian	(	fMat &	J,
		fVec3 &	com,
		const char *	chname
	)

protected

Definition at line 30 of file jacobi.cpp.

◆ descendant_dof()

int Joint::descendant_dof ( )

protected

Definition at line 446 of file chain.cpp.

◆ descendant_num_joints()

int Joint::descendant_num_joints ( )

protected

Definition at line 458 of file chain.cpp.

◆ DescendantDOF()

int Joint::DescendantDOF ( )

Total DOF of the descendants (end link side).

Definition at line 441 of file chain.cpp.

◆ DescendantNumJoints()

int Joint::DescendantNumJoints ( )

Total number of joints of the descendants (end link side).

Definition at line 453 of file chain.cpp.

◆ find_joint() [1/2]

Joint * Joint::find_joint	(	const char *	n,
		const char *	charname
	)

protected

Definition at line 396 of file chain.cpp.

◆ find_joint() [2/2]

Joint * Joint::find_joint ( int _id )

protected

Definition at line 420 of file chain.cpp.

◆ get_joint_acc()

int Joint::get_joint_acc ( fVec & accs )

protected

Definition at line 221 of file joint.cpp.

◆ get_joint_force()

int Joint::get_joint_force ( fVec & forces )

protected

Definition at line 877 of file joint.cpp.

◆ get_joint_list()

void Joint::get_joint_list ( Joint ** joints )

protected

Definition at line 381 of file chain.cpp.

◆ get_joint_name_list()

void Joint::get_joint_name_list ( char ** jnames )

protected

Definition at line 354 of file chain.cpp.

◆ get_joint_value()

int Joint::get_joint_value ( fVec & values )

protected

Definition at line 131 of file joint.cpp.

◆ get_joint_vel()

int Joint::get_joint_vel ( fVec & vels )

protected

Definition at line 179 of file joint.cpp.

◆ GetJointAcc() [1/3]

int Joint::GetJointAcc ( double & _qdd )

Definition at line 282 of file joint.cpp.

◆ GetJointAcc() [2/3]

int Joint::GetJointAcc ( fVec3 & rdd )

Definition at line 321 of file joint.cpp.

◆ GetJointAcc() [3/3]

int Joint::GetJointAcc	(	fVec3 &	pdd,
		fVec3 &	rdd
	)

Definition at line 362 of file joint.cpp.

◆ GetJointForce() [1/3]

int Joint::GetJointForce ( double & _tau )

Definition at line 796 of file joint.cpp.

◆ GetJointForce() [2/3]

int Joint::GetJointForce ( fVec3 & _n3 )

Definition at line 822 of file joint.cpp.

◆ GetJointForce() [3/3]

int Joint::GetJointForce	(	fVec3 &	_f3,
		fVec3 &	_n3
	)

Definition at line 849 of file joint.cpp.

◆ GetJointValue() [1/3]

int Joint::GetJointValue ( double & _q )

Definition at line 256 of file joint.cpp.

◆ GetJointValue() [2/3]

int Joint::GetJointValue ( fMat33 & r )

Definition at line 295 of file joint.cpp.

◆ GetJointValue() [3/3]

int Joint::GetJointValue	(	fVec3 &	p,
		fMat33 &	r
	)

Definition at line 334 of file joint.cpp.

◆ GetJointVel() [1/3]

int Joint::GetJointVel ( double & _qd )

Definition at line 269 of file joint.cpp.

◆ GetJointVel() [2/3]

int Joint::GetJointVel ( fVec3 & rd )

Definition at line 308 of file joint.cpp.

◆ GetJointVel() [3/3]

int Joint::GetJointVel	(	fVec3 &	pd,
		fVec3 &	rd
	)

Definition at line 348 of file joint.cpp.

◆ init()

void Joint::init ( )

protected

Definition at line 135 of file init.cpp.

◆ init_arrays()

void Joint::init_arrays ( )

protected

Definition at line 204 of file init.cpp.

◆ init_virtual()

void Joint::init_virtual ( )

protected

Definition at line 271 of file init.cpp.

◆ inv_dyn()

void Joint::inv_dyn ( )

protected

Definition at line 23 of file id.cpp.

◆ inv_dyn_1()

void Joint::inv_dyn_1 ( )

protected

Definition at line 32 of file id.cpp.

◆ inv_dyn_2()

void Joint::inv_dyn_2 ( )

protected

Definition at line 46 of file id.cpp.

◆ is_descendant()

int Joint::is_descendant	(	Joint *	cur,
		Joint *	target
	)

protected

Definition at line 470 of file chain.cpp.

◆ isAscendant()

int Joint::isAscendant ( Joint * target )

Identifies whether the target joint is a direct ascendant.

Definition at line 479 of file chain.cpp.

◆ isDescendant()

int Joint::isDescendant ( Joint * target )

Identifies whether the target joint is a direct descendant.

Definition at line 465 of file chain.cpp.

◆ post_integrate()

int Joint::post_integrate ( )

protected

Definition at line 309 of file integ.cpp.

◆ pre_integrate()

int Joint::pre_integrate ( )

protected

Definition at line 281 of file integ.cpp.

◆ remove_child()

int Joint::remove_child ( Joint * j )

protected

Definition at line 43 of file edit.cpp.

◆ save()

int Joint::save	(	ostream &	ost,
		int	indent,
		const char *	charname
	)		const

protected

◆ save_xml()

int Joint::save_xml	(	ostream &	ost,
		int	indent,
		const char *	charname
	)		const

protected

◆ Scale()

double Joint::Scale ( )

inline

Returns the scale applied to the joint.

Definition at line 643 of file chain.h.

◆ set_joint_acc()

int Joint::set_joint_acc ( const fVec & accs )

protected

Definition at line 508 of file joint.cpp.

◆ set_joint_force()

int Joint::set_joint_force ( const fVec & forces )

protected

Definition at line 757 of file joint.cpp.

◆ set_joint_value()

int Joint::set_joint_value ( const fVec & values )

protected

Definition at line 426 of file joint.cpp.

◆ set_joint_vel()

int Joint::set_joint_vel ( const fVec & vels )

protected

Definition at line 467 of file joint.cpp.

◆ SetFixedJointType()

void Joint::SetFixedJointType	(	const fVec3 &	rpos,
		const fMat33 &	ratt
	)

Set joint type to fixed.

Definition at line 56 of file joint.cpp.

◆ SetFreeJointType()

void Joint::SetFreeJointType	(	const fVec3 &	rpos,
		const fMat33 &	ratt
	)

Set joint type to free.

Definition at line 80 of file joint.cpp.

◆ SetJointAcc() [1/5]

int Joint::SetJointAcc ( double _qdd )

Definition at line 580 of file joint.cpp.

◆ SetJointAcc() [2/5]

int Joint::SetJointAcc ( const fVec3 & rdd )

Definition at line 639 of file joint.cpp.

◆ SetJointAcc() [3/5]

int Joint::SetJointAcc	(	double	ax,
		double	ay,
		double	az
	)

Definition at line 652 of file joint.cpp.

◆ SetJointAcc() [4/5]

int Joint::SetJointAcc	(	const fVec3 &	pdd,
		const fVec3 &	rdd
	)

Definition at line 711 of file joint.cpp.

◆ SetJointAcc() [5/5]

int Joint::SetJointAcc	(	double	lx,
		double	ly,
		double	lz,
		double	ax,
		double	ay,
		double	az
	)

Definition at line 725 of file joint.cpp.

◆ SetJointData()

void Joint::SetJointData	(	JointData *	jdata,
		const char *	charname
	)

Definition at line 301 of file chain.cpp.

◆ SetJointForce() [1/3]

int Joint::SetJointForce ( double _tau )

Definition at line 783 of file joint.cpp.

◆ SetJointForce() [2/3]

int Joint::SetJointForce ( const fVec3 & _n3 )

Definition at line 809 of file joint.cpp.

◆ SetJointForce() [3/3]

int Joint::SetJointForce	(	const fVec3 &	_f3,
		const fVec3 &	_n3
	)

Definition at line 835 of file joint.cpp.

◆ SetJointOrientation()

int Joint::SetJointOrientation ( const fMat33 & r )

Set relative orientation.

Definition at line 385 of file joint.cpp.

◆ SetJointPosition()

int Joint::SetJointPosition ( const fVec3 & p )

Set relative position.

Definition at line 379 of file joint.cpp.

◆ SetJointValue() [1/5]

int Joint::SetJointValue ( double _q )

Definition at line 538 of file joint.cpp.

◆ SetJointValue() [2/5]

int Joint::SetJointValue ( const fMat33 & r )

Definition at line 598 of file joint.cpp.

◆ SetJointValue() [3/5]

int Joint::SetJointValue ( const fEulerPara & ep )

Definition at line 612 of file joint.cpp.

◆ SetJointValue() [4/5]

int Joint::SetJointValue	(	const fVec3 &	p,
		const fMat33 &	r
	)

Definition at line 667 of file joint.cpp.

◆ SetJointValue() [5/5]

int Joint::SetJointValue	(	const fVec3 &	p,
		const fEulerPara &	ep
	)

Definition at line 682 of file joint.cpp.

◆ SetJointVel() [1/3]

int Joint::SetJointVel ( double _qd )

Definition at line 562 of file joint.cpp.

◆ SetJointVel() [2/3]

int Joint::SetJointVel ( const fVec3 & rd )

Definition at line 626 of file joint.cpp.

◆ SetJointVel() [3/3]

int Joint::SetJointVel	(	const fVec3 &	pd,
		const fVec3 &	rd
	)

Definition at line 697 of file joint.cpp.

◆ SetName()

void Joint::SetName	(	const char *	_name,
		const char *	_charname = `0`
	)

inline

Change the joint name.

Definition at line 655 of file chain.h.

◆ SetRotateJointType()

void Joint::SetRotateJointType	(	const fVec3 &	rpos,
		const fMat33 &	ratt,
		AxisIndex	ai
	)

Set joint type to rotational.

Definition at line 30 of file joint.cpp.

◆ SetSlideJointType()

void Joint::SetSlideJointType	(	const fVec3 &	rpos,
		const fMat33 &	ratt,
		AxisIndex	ai
	)

Set joint type to prismatic.

Definition at line 43 of file joint.cpp.

◆ SetSphereJointType()

void Joint::SetSphereJointType	(	const fVec3 &	rpos,
		const fMat33 &	ratt
	)

Set joint type to spherical.

Definition at line 68 of file joint.cpp.

◆ total_com()

double Joint::total_com	(	fVec3 &	com,
		const char *	chname
	)

protected

Definition at line 137 of file fk.cpp.

◆ total_mass()

double Joint::total_mass ( )

protected

Definition at line 22 of file joint.cpp.

◆ TotalMass()

double Joint::TotalMass ( )

Returns the total mass of the child links.

Definition at line 16 of file joint.cpp.

◆ UpdateJointType()

void Joint::UpdateJointType ( )

Definition at line 92 of file joint.cpp.

Friends And Related Function Documentation

◆ Chain

friend class Chain

friend

Definition at line 540 of file chain.h.

Member Data Documentation

◆ abs_att

fMat33 Joint::abs_att

absolute orientation

Definition at line 742 of file chain.h.

◆ abs_pos

fVec3 Joint::abs_pos

absolute position

Definition at line 741 of file chain.h.

◆ axis

fVec3 Joint::axis

joint axis in local frame (for 1DOF joints)

Definition at line 696 of file chain.h.

◆ basename

char* Joint::basename

joint base name (without the character name)

Definition at line 692 of file chain.h.

◆ brother

Joint* Joint::brother

pointer to the brother joint

Definition at line 684 of file chain.h.

◆ chain

Chain* Joint::chain

protected

Definition at line 769 of file chain.h.

◆ child

Joint* Joint::child

pointer to the child joint

Definition at line 685 of file chain.h.

◆ cur_scale

double Joint::cur_scale

private

Definition at line 843 of file chain.h.

◆ ext_force

fVec3 Joint::ext_force

external force

Definition at line 736 of file chain.h.

◆ ext_moment

fVec3 Joint::ext_moment

external moment around the local frame

Definition at line 737 of file chain.h.

◆ gear_ratio

double Joint::gear_ratio

Definition at line 707 of file chain.h.

◆ i_dof

int Joint::i_dof

index in all DOF

Definition at line 720 of file chain.h.

◆ i_joint

int Joint::i_joint

index of the joint

Definition at line 722 of file chain.h.

◆ i_thrust

int Joint::i_thrust

index in all motion controlled joints

Definition at line 721 of file chain.h.

◆ i_value

int Joint::i_value

index in all joint values

Definition at line 719 of file chain.h.

◆ inertia

fMat33 Joint::inertia

intertia

Definition at line 705 of file chain.h.

◆ init_att

fMat33 Joint::init_att

origin of the joint value (for rotational joints)

Definition at line 698 of file chain.h.

◆ init_pos

fVec3 Joint::init_pos

origin of the joint value (for prismatic joints)

Definition at line 697 of file chain.h.

◆ j_type

JointType Joint::j_type

joint type

Definition at line 694 of file chain.h.

◆ joint_f

fVec3 Joint::joint_f

Definition at line 755 of file chain.h.

◆ joint_n

fVec3 Joint::joint_n

Definition at line 756 of file chain.h.

◆ loc_ang_acc

fVec3 Joint::loc_ang_acc

angular acceleration in local frame

Definition at line 747 of file chain.h.

◆ loc_ang_vel

fVec3 Joint::loc_ang_vel

angular velocity in local frame

Definition at line 744 of file chain.h.

◆ loc_com

fVec3 Joint::loc_com

center of mass in local frame

Definition at line 706 of file chain.h.

◆ loc_com_acc

fVec3 Joint::loc_com_acc

com acceleration in local frame

Definition at line 748 of file chain.h.

◆ loc_com_vel

fVec3 Joint::loc_com_vel

com velocity in local frame

Definition at line 745 of file chain.h.

◆ loc_lin_acc

fVec3 Joint::loc_lin_acc

linear acceleration in local frame

Definition at line 746 of file chain.h.

◆ loc_lin_vel

fVec3 Joint::loc_lin_vel

linear velocity in local frame

Definition at line 743 of file chain.h.

◆ mass

double Joint::mass

mass

Definition at line 704 of file chain.h.

◆ n_dof

int Joint::n_dof

degrees of freedom (0/1/3/6)

Definition at line 715 of file chain.h.

◆ n_root_dof

int Joint::n_root_dof

total DOF in the root side

Definition at line 717 of file chain.h.

◆ n_thrust

int Joint::n_thrust

DOF for motion controlled joints.

Definition at line 716 of file chain.h.

◆ name

char* Joint::name

joint name (including the character name)

Definition at line 691 of file chain.h.

◆ p_ang_acc

fVec3 Joint::p_ang_acc

Definition at line 765 of file chain.h.

◆ p_ang_vel

fVec3 Joint::p_ang_vel

Definition at line 763 of file chain.h.

◆ p_ep_dot

fEulerPara Joint::p_ep_dot

Definition at line 762 of file chain.h.

◆ p_lin_acc

fVec3 Joint::p_lin_acc

Definition at line 764 of file chain.h.

◆ p_lin_vel

fVec3 Joint::p_lin_vel

Definition at line 761 of file chain.h.

◆ parent

Joint* Joint::parent

pointer to the parent joint

Definition at line 683 of file chain.h.

◆ q

double Joint::q

joint value (for 1DOF joints)

Definition at line 724 of file chain.h.

◆ qd

double Joint::qd

joint velocity (for 1DOF joints)

Definition at line 725 of file chain.h.

◆ qdd

double Joint::qdd

joint acceleration (for 1DOF joints)

Definition at line 726 of file chain.h.

◆ ratt_real

fMat33 Joint::ratt_real

relative orientation in the real joint frame

Definition at line 689 of file chain.h.

◆ real

Joint* Joint::real

pointer to the real (connected) joint; for closed chains.

Definition at line 687 of file chain.h.

◆ realname

char* Joint::realname

name of the real joint (for closed chains)

Definition at line 693 of file chain.h.

◆ rel_ang_acc

fVec3 Joint::rel_ang_acc

Definition at line 731 of file chain.h.

◆ rel_ang_vel

fVec3 Joint::rel_ang_vel

Definition at line 729 of file chain.h.

◆ rel_att

fMat33 Joint::rel_att

(initial) orientation in parent joint's frame (for 0/3/6 DOF joints)

Definition at line 701 of file chain.h.

◆ rel_ep

fEulerPara Joint::rel_ep

Euler parameter representation of rel_att (for 0/3/6 DOF joints)

Definition at line 702 of file chain.h.

◆ rel_lin_acc

fVec3 Joint::rel_lin_acc

Definition at line 730 of file chain.h.

◆ rel_lin_vel

fVec3 Joint::rel_lin_vel

Definition at line 728 of file chain.h.

◆ rel_pos

fVec3 Joint::rel_pos

(initial) position in parent joint's frame (for 0/3/6 DOF joints)

Definition at line 700 of file chain.h.

◆ rotor_inertia

double Joint::rotor_inertia

Definition at line 708 of file chain.h.

◆ rpos_real

fVec3 Joint::rpos_real

relative position in the real joint frame

Definition at line 688 of file chain.h.

◆ t_given

int Joint::t_given

torque or motion controlled

Definition at line 709 of file chain.h.

◆ tau

double Joint::tau

joint force/torque (for 1DOF joints)

Definition at line 733 of file chain.h.

◆ tau_f

fVec3 Joint::tau_f

joint force for 6DOF joints

Definition at line 734 of file chain.h.

◆ tau_n

fVec3 Joint::tau_n

joint torque for 3 and 6 DOF joints

Definition at line 735 of file chain.h.

◆ total_f

fVec3 Joint::total_f

Definition at line 755 of file chain.h.

◆ total_n

fVec3 Joint::total_n

Definition at line 756 of file chain.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Joint() [1/3]

◆ Joint() [2/3]

◆ Joint() [3/3]

◆ ~Joint()

Member Function Documentation

◆ _init_virtual()

◆ add_child()

◆ calc_acceleration()

◆ calc_jacobian()

◆ calc_jacobian_2()

◆ calc_jacobian_2_free_sub()

◆ calc_jacobian_2_rotate_rotate()

◆ calc_jacobian_2_rotate_slide()

◆ calc_jacobian_2_rotate_sub()

◆ calc_jacobian_2_slide_rotate()

◆ calc_jacobian_2_slide_sub()

◆ calc_jacobian_2_sphere_sub()

◆ calc_jacobian_free()

◆ calc_jacobian_rotate()

◆ calc_jacobian_slide()

◆ calc_jacobian_sphere()

◆ calc_joint_force()

◆ calc_position()

◆ calc_velocity()

◆ CalcJacobian()

◆ CalcJacobian2()

◆ CalcJdot()

◆ CharName()

◆ clear()

◆ clear_data()

◆ clear_ext_force()

◆ clear_joint_force()

◆ com_jacobian()

◆ descendant_dof()

◆ descendant_num_joints()

◆ DescendantDOF()

◆ DescendantNumJoints()

◆ find_joint() [1/2]

◆ find_joint() [2/2]

◆ get_joint_acc()

◆ get_joint_force()

◆ get_joint_list()

◆ get_joint_name_list()

◆ get_joint_value()

◆ get_joint_vel()

◆ GetJointAcc() [1/3]

◆ GetJointAcc() [2/3]

◆ GetJointAcc() [3/3]

◆ GetJointForce() [1/3]

◆ GetJointForce() [2/3]

◆ GetJointForce() [3/3]

◆ GetJointValue() [1/3]

◆ GetJointValue() [2/3]

◆ GetJointValue() [3/3]

◆ GetJointVel() [1/3]

◆ GetJointVel() [2/3]

◆ GetJointVel() [3/3]

◆ init()

◆ init_arrays()

◆ init_virtual()

◆ inv_dyn()

◆ inv_dyn_1()

◆ inv_dyn_2()

◆ is_descendant()

◆ isAscendant()

◆ isDescendant()

◆ post_integrate()

◆ pre_integrate()

◆ remove_child()

◆ save()

◆ save_xml()

◆ Scale()