fcl::Joint Class Reference

Base Joint. More...

#include <joint.h>

Inheritance diagram for fcl::Joint:

List of all members.

Public Member Functions
boost::shared_ptr< Link >	getChildLink () const
boost::shared_ptr< JointConfig >	getJointConfig () const
JointType	getJointType () const
virtual Transform3f	getLocalTransform () const =0
const std::string &	getName () const
virtual std::size_t	getNumDofs () const =0
boost::shared_ptr< Link >	getParentLink () const
const Transform3f &	getTransformToParent () const
	Joint (const boost::shared_ptr< Link > &link_parent, const boost::shared_ptr< Link > &link_child, const Transform3f &transform_to_parent, const std::string &name)
	Joint (const std::string &name)
void	setChildLink (const boost::shared_ptr< Link > &link)
void	setJointConfig (const boost::shared_ptr< JointConfig > &joint_cfg)
void	setName (const std::string &name)
void	setParentLink (const boost::shared_ptr< Link > &link)
void	setTransformToParent (const Transform3f &t)
virtual	~Joint ()
Protected Attributes
boost::shared_ptr< JointConfig >	joint_cfg_
boost::weak_ptr< Link >	link_child_
boost::weak_ptr< Link >	link_parent_
	links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency
std::string	name_
Transform3f	transform_to_parent_
JointType	type_

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Detailed Description

Base Joint.

Definition at line 59 of file joint.h.

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Constructor & Destructor Documentation

fcl::Joint::Joint	(	const boost::shared_ptr< Link > &	link_parent,
		const boost::shared_ptr< Link > &	link_child,
		const Transform3f &	transform_to_parent,
		const std::string &	name
	)

Definition at line 44 of file joint.cpp.

fcl::Joint::Joint

(

const std::string &

name

)

Definition at line 52 of file joint.cpp.

virtual fcl::Joint::~Joint

(

)

[inline, virtual]

Definition at line 69 of file joint.h.

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Member Function Documentation

boost::shared_ptr< Link > fcl::Joint::getChildLink

(

)

const

Definition at line 82 of file joint.cpp.

boost::shared_ptr< JointConfig > fcl::Joint::getJointConfig

(

)

const

Definition at line 67 of file joint.cpp.

JointType fcl::Joint::getJointType

(

)

const

Definition at line 97 of file joint.cpp.

virtual Transform3f fcl::Joint::getLocalTransform

(

)

const [pure virtual]

Implemented in fcl::BallEulerJoint, fcl::RevoluteJoint, and fcl::PrismaticJoint.

const std::string & fcl::Joint::getName

(

)

const

Definition at line 57 of file joint.cpp.

virtual std::size_t fcl::Joint::getNumDofs

(

)

const [pure virtual]

Implemented in fcl::BallEulerJoint, fcl::RevoluteJoint, and fcl::PrismaticJoint.

boost::shared_ptr< Link > fcl::Joint::getParentLink

(

)

const

Definition at line 77 of file joint.cpp.

const Transform3f & fcl::Joint::getTransformToParent

(

)

const

Definition at line 102 of file joint.cpp.

void fcl::Joint::setChildLink

(

const boost::shared_ptr< Link > &

link

)

Definition at line 92 of file joint.cpp.

void fcl::Joint::setJointConfig

(

const boost::shared_ptr< JointConfig > &

joint_cfg

)

Definition at line 72 of file joint.cpp.

void fcl::Joint::setName

(

const std::string &

name

)

Definition at line 62 of file joint.cpp.

void fcl::Joint::setParentLink

(

const boost::shared_ptr< Link > &

link

)

Definition at line 87 of file joint.cpp.

void fcl::Joint::setTransformToParent

(

const Transform3f &

t

)

Definition at line 107 of file joint.cpp.

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Member Data Documentation

boost::shared_ptr<JointConfig> fcl::Joint::joint_cfg_ [protected]

Definition at line 101 of file joint.h.

boost::weak_ptr<Link> fcl::Joint::link_child_ [protected]

Definition at line 95 of file joint.h.

boost::weak_ptr<Link> fcl::Joint::link_parent_ [protected]

links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency

Definition at line 95 of file joint.h.

std::string fcl::Joint::name_ [protected]

Definition at line 99 of file joint.h.

Transform3f fcl::Joint::transform_to_parent_ [protected]

Definition at line 103 of file joint.h.

JointType fcl::Joint::type_ [protected]

Definition at line 97 of file joint.h.

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

• joint.h
• joint.cpp