KDL  1.4.0
joint.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_JOINT_HPP
23 #define KDL_JOINT_HPP
24 
25 #include "frames.hpp"
26 #include <string>
27 #include <exception>
28 
29 
30 namespace KDL {
31 
45  class Joint {
46  public:
62  explicit Joint(const std::string& name, const JointType& type=None,const double& scale=1,const double& offset=0,
63  const double& inertia=0,const double& damping=0,const double& stiffness=0);
77  explicit Joint(const JointType& type=None,const double& scale=1,const double& offset=0,
78  const double& inertia=0,const double& damping=0,const double& stiffness=0);
94  Joint(const std::string& name, const Vector& _origin, const Vector& _axis, const JointType& type, const double& _scale=1, const double& _offset=0,
95  const double& _inertia=0, const double& _damping=0, const double& _stiffness=0);
110  Joint(const Vector& _origin, const Vector& _axis, const JointType& type, const double& _scale=1, const double& _offset=0,
111  const double& _inertia=0, const double& _damping=0, const double& _stiffness=0);
112 
121  Frame pose(const double& q)const;
129  Twist twist(const double& qdot)const;
130 
136  Vector JointAxis() const;
137 
143  Vector JointOrigin() const;
150  const std::string& getName()const
151  {
152  return name;
153  }
159  const JointType& getType() const
160  {
161  return type;
162  };
163 
169  const std::string getTypeName() const
170  {
171  switch (type) {
172  case RotAxis:
173  return "RotAxis";
174  case TransAxis:
175  return "TransAxis";
176  case RotX:
177  return "RotX";
178  case RotY:
179  return "RotY";
180  case RotZ:
181  return "RotZ";
182  case TransX:
183  return "TransX";
184  case TransY:
185  return "TransY";
186  case TransZ:
187  return "TransZ";
188  case None:
189  return "None";
190  default:
191  return "None";
192  }
193  };
194 
195  virtual ~Joint();
196 
197  private:
198  std::string name;
200  double scale;
201  double offset;
202  double inertia;
203  double damping;
204  double stiffness;
205 
206  // variables for RotAxis joint
208  mutable Frame joint_pose;
209  mutable double q_previous;
210 
211 
212 
213  class joint_type_exception: public std::exception{
214  virtual const char* what() const throw(){
215  return "Joint Type excption";}
216  } joint_type_ex;
217 
218  };
219 
220 } // end of namespace KDL
221 
222 #endif
Vector JointOrigin() const
Request the Vector corresponding to the origin of a revolute joint.
Definition: joint.cpp:157
Definition: joint.hpp:47
virtual const char * what() const
Definition: joint.hpp:214
Definition: joint.hpp:47
JointType
Definition: joint.hpp:47
double q_previous
Definition: joint.hpp:209
double damping
Definition: joint.hpp:203
Vector origin
Definition: joint.hpp:207
Definition: joint.hpp:47
const std::string getTypeName() const
Request the stringified type of the joint.
Definition: joint.hpp:169
double stiffness
Definition: joint.hpp:204
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)
Constructor of a joint.
Definition: joint.cpp:27
Vector axis
Definition: joint.hpp:207
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28
Definition: joint.hpp:47
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
KDL::Joint::joint_type_exception joint_type_ex
Definition: joint.hpp:47
Vector JointAxis() const
Request the Vector corresponding to the axis of a revolute joint.
Definition: joint.cpp:131
Definition: joint.hpp:47
Definition: joint.hpp:47
std::string name
Definition: joint.hpp:198
Twist twist(const double &qdot) const
Request the resulting 6D-velocity with a joint velocity qdot.
Definition: joint.cpp:106
double inertia
Definition: joint.hpp:202
const JointType & getType() const
Request the type of the joint.
Definition: joint.hpp:159
virtual ~Joint()
Definition: joint.cpp:72
Definition: joint.hpp:47
Frame joint_pose
Definition: joint.hpp:208
Definition: joint.hpp:47
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Definition: joint.hpp:45
const std::string & getName() const
Request the name of the joint.
Definition: joint.hpp:150
Joint::JointType type
Definition: joint.hpp:199
double offset
Definition: joint.hpp:201
Definition: joint.hpp:213
double scale
Definition: joint.hpp:200
Frame pose(const double &q) const
Request the 6D-pose between the beginning and the end of the joint at joint position q...
Definition: joint.cpp:76