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95 const double& _inertia=0,
const double& _damping=0,
const double& _stiffness=0);
111 const double& _inertia=0,
const double& _damping=0,
const double& _stiffness=0);
214 virtual const char*
what()
const throw(){
215 return "Joint Type excption";}
static Rotation Rot2(const Vector &rotvec, double angle)
Along an arbitrary axes. rotvec should be normalized.
Definition: frames.cpp:304
static Frame Identity()
Definition: frames.inl:695
@ RotZ
Definition: joint.hpp:47
@ RotY
Definition: joint.hpp:47
double stiffness
Definition: joint.hpp:204
KDL::Joint::joint_type_exception joint_type_ex
double damping
Definition: joint.hpp:203
static Vector Zero()
Definition: frames.inl:138
@ TransZ
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
Vector p
origine of the Frame
Definition: frames.hpp:572
Vector JointOrigin() const
Request the Vector corresponding to the origin of a revolute joint.
Definition: joint.cpp:157
static Rotation RotY(double angle)
The Rot... static functions give the value of the appropriate rotation matrix back.
Definition: frames.inl:605
Definition: articulatedbodyinertia.cpp:28
const std::string & getName() const
Request the name of the joint.
Definition: joint.hpp:150
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
double inertia
Definition: joint.hpp:202
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
@ TransAxis
Definition: joint.hpp:47
represents both translational and rotational velocities.
Definition: frames.hpp:720
double scale
Definition: joint.hpp:200
virtual const char * what() const
Definition: joint.hpp:214
static Rotation RotZ(double angle)
The Rot... static functions give the value of the appropriate rotation matrix back.
Definition: frames.inl:610
@ RotX
Definition: joint.hpp:47
Definition: frames.hpp:570
virtual ~Joint()
Definition: joint.cpp:72
@ TransX
Definition: joint.hpp:47
@ None
Definition: joint.hpp:47
double q_previous
Definition: joint.hpp:209
@ RotAxis
Definition: joint.hpp:47
static Twist Zero()
Definition: frames.inl:290
double offset
Definition: joint.hpp:201
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
JointType
Definition: joint.hpp:47
static Rotation RotX(double angle)
The Rot... static functions give the value of the appropriate rotation matrix back.
Definition: frames.inl:600
@ TransY
Definition: joint.hpp:47
const JointType & getType() const
Request the type of the joint.
Definition: joint.hpp:159
Frame joint_pose
Definition: joint.hpp:208
Definition: joint.hpp:213
Vector origin
Definition: joint.hpp:207
const std::string getTypeName() const
Request the stringified type of the joint.
Definition: joint.hpp:169
Vector axis
Definition: joint.hpp:207
Joint::JointType type
Definition: joint.hpp:199
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 JointAxis() const
Request the Vector corresponding to the axis of a revolute joint.
Definition: joint.cpp:131