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::pJoint ( Joint _joint,
Joint _link_side 
)
inline

Definition at line 87 of file psim.h.

◆ ~pJoint()

pJoint::~pJoint ( )
inline

Definition at line 110 of file psim.h.

Member Function Documentation

◆ calc_dvel()

void pJoint::calc_dvel ( )
private

Definition at line 585 of file update.cpp.

◆ calc_jacobian()

void pJoint::calc_jacobian ( )
private

Definition at line 164 of file update.cpp.

◆ calc_jdot()

void pJoint::calc_jdot ( )
private

Definition at line 802 of file update.cpp.

◆ dump()

void pJoint::dump ( ostream &  ost)
private

Definition at line 363 of file psim.cpp.

◆ GetJoint()

Joint* pJoint::GetJoint ( )
inline

Definition at line 116 of file psim.h.

◆ Pair()

pJoint* pJoint::Pair ( )
inline

Definition at line 113 of file psim.h.

◆ ParentSide()

int pJoint::ParentSide ( )
inline

Definition at line 119 of file psim.h.

Friends And Related Function Documentation

◆ pLink

friend class pLink
friend

Definition at line 84 of file psim.h.

◆ pSim

friend class pSim
friend

Definition at line 83 of file psim.h.

◆ pSubChain

friend class pSubChain
friend

Definition at line 85 of file psim.h.

Member Data Documentation

◆ acc_final

fVec pJoint::acc_final
private

Definition at line 138 of file psim.h.

◆ colf_final

fVec pJoint::colf_final
private

Definition at line 142 of file psim.h.

◆ dvel

fVec pJoint::dvel
private

Definition at line 141 of file psim.h.

◆ f_final

fVec pJoint::f_final
private

Definition at line 137 of file psim.h.

◆ J

fMat pJoint::J
private

Definition at line 135 of file psim.h.

◆ Jdot

fVec pJoint::Jdot
private

Definition at line 136 of file psim.h.

◆ joint

Joint* pJoint::joint
private

Definition at line 128 of file psim.h.

◆ link_side

Joint* pJoint::link_side
private

null in parent side of space joint

Definition at line 129 of file psim.h.

◆ pair

pJoint* pJoint::pair
private

Definition at line 131 of file psim.h.

◆ parent_side

int pJoint::parent_side
private

link is in parent side?

Definition at line 132 of file psim.h.

◆ plink

pLink* pJoint::plink
private

Definition at line 130 of file psim.h.

◆ subchain

pSubChain* pJoint::subchain
private

the subchain which only contains the link associated with this pjoint

Definition at line 133 of file psim.h.

◆ vel_final

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 Thu Sep 8 2022 02:24:07