This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties.
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| 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. More...
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| 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) |
| Constructor of a joint. More...
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| 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. More...
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| 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. More...
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Frame | pose (const double &q) const |
| Request the 6D-pose between the beginning and the end of the joint at joint position q. More...
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Twist | twist (const double &qdot) const |
| Request the resulting 6D-velocity with a joint velocity qdot. More...
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Vector | JointAxis () const |
| Request the Vector corresponding to the axis of a revolute joint. More...
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Vector | JointOrigin () const |
| Request the Vector corresponding to the origin of a revolute joint. More...
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const std::string & | getName () const |
| Request the name of the joint. More...
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const JointType & | getType () const |
| Request the type of the joint. More...
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const std::string | getTypeName () const |
| Request the stringified type of the joint. More...
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virtual | ~Joint () |
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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.
KDL::Joint::Joint |
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const std::string & |
name, |
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const Vector & |
_origin, |
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const Vector & |
_axis, |
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const JointType & |
type, |
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const double & |
_scale = 1 , |
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const double & |
_offset = 0 , |
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const double & |
_inertia = 0 , |
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const double & |
_damping = 0 , |
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const double & |
_stiffness = 0 |
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Constructor of a joint.
- Parameters
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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 |
References axis, joint_pose, joint_type_ex, KDL::Frame::M, offset, origin, KDL::Frame::p, q_previous, KDL::Rotation::Rot2(), RotAxis, TransAxis, and type.
KDL::Joint::Joint |
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const Vector & |
_origin, |
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const Vector & |
_axis, |
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const JointType & |
type, |
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const double & |
_scale = 1 , |
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const double & |
_offset = 0 , |
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const double & |
_inertia = 0 , |
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const double & |
_damping = 0 , |
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const double & |
_stiffness = 0 |
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Constructor of a joint.
- Parameters
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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 |
References axis, joint_pose, joint_type_ex, KDL::Frame::M, offset, origin, KDL::Frame::p, q_previous, KDL::Rotation::Rot2(), RotAxis, TransAxis, and type.
Frame KDL::Joint::pose |
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const double & |
q | ) |
const |
Request the 6D-pose between the beginning and the end of the joint at joint position q.
- Parameters
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- Returns
- the resulting 6D-pose
References axis, KDL::Frame::Identity(), joint_pose, KDL::Frame::M, None, offset, origin, q_previous, KDL::Rotation::Rot2(), RotAxis, RotX, KDL::Rotation::RotX(), RotY, KDL::Rotation::RotY(), RotZ, KDL::Rotation::RotZ(), scale, TransAxis, TransX, TransY, TransZ, and type.
Referenced by KDL::Segment::getFrameToTip(), KDL::Segment::pose(), KDL::Segment::setFrameToTip(), and KDL::Segment::twist().
Twist KDL::Joint::twist |
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const double & |
qdot | ) |
const |
Request the resulting 6D-velocity with a joint velocity qdot.
- Parameters
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qdot | the 1D joint velocity |
- Returns
- the resulting 6D-velocity
References axis, None, RotAxis, RotX, RotY, RotZ, scale, TransAxis, TransX, TransY, TransZ, type, and KDL::Twist::Zero().
Referenced by KDL::Segment::twist().