KDL::Joint Class Reference

This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...

#include <joint.hpp>

List of all members.

Public Types
enum	JointType {   RotX, RotY, RotZ, TransX,   TransY, TransZ, Sphere, Swing,   None }
Public Member Functions
	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)
	Joint (const Joint &in)
Joint &	operator= (const Joint &arg)
Frame	pose (const double &q) const
Twist	twist (const double &qdot, int dof=0) const
const JointType &	getType () const
const std::string	getTypeName () const
unsigned int	getNDof () const
virtual	~Joint ()

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Detailed Description

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.

Definition at line 43 of file joint.hpp.

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Member Enumeration Documentation

enum KDL::Joint::JointType

Enumerator:

RotX
RotY
RotZ
TransX
TransY
TransZ
Sphere
Swing
None

Definition at line 45 of file joint.hpp.

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Constructor & Destructor Documentation

KDL::Joint::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.

Parameters:

type	type of the joint, default: Joint::None
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

Definition at line 29 of file joint.cpp.

KDL::Joint::Joint

(

const Joint &

in

)

Definition at line 36 of file joint.cpp.

KDL::Joint::~Joint

(

)

[virtual]

Definition at line 54 of file joint.cpp.

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Member Function Documentation

unsigned int KDL::Joint::getNDof

(

)

const

Definition at line 141 of file joint.cpp.

References None, Sphere, and Swing.

Referenced by iTaSC::addLimitConstraint(), KDL::Chain::addSegment(), KDL::Tree::addSegment(), KDL::ChainFkSolverPos_recursive::JntToCart(), and KDL::ChainJntToJacSolver::JntToJac().

const JointType& KDL::Joint::getType

(

void

)

const [inline]

Request the type of the joint.

Returns:

const reference to the type

Definition at line 88 of file joint.hpp.

Referenced by iTaSC::addLimitConstraint(), base_callback(), and execute_scene().

const std::string KDL::Joint::getTypeName

(

)

const [inline]

Request the stringified type of the joint.

Returns:

const string

Definition at line 98 of file joint.hpp.

References None, RotX, RotY, RotZ, Sphere, Swing, TransX, TransY, and TransZ.

Referenced by KDL::operator<<().

Joint & KDL::Joint::operator=

(

const Joint &

arg

)

Definition at line 42 of file joint.cpp.

Frame KDL::Joint::pose

(

const double &

q

)

const

Request the 6D-pose between the beginning and the end of the joint at joint position q

Parameters:

q	the 1D joint position

Returns:

the resulting 6D-pose

Definition at line 58 of file joint.cpp.

References KDL::Frame::Identity(), Rot(), KDL::Rotation::RotX(), RotX, KDL::Rotation::RotY(), RotY, KDL::Rotation::RotZ(), RotZ, Sphere, Swing, TransX, TransY, and TransZ.

Referenced by KDL::ChainJntToJacSolver::JntToJac(), and KDL::Segment::pose().

Twist KDL::Joint::twist	(	const double &	qdot,
		int	dof = 0
	)		const

Request the resulting 6D-velocity with a joint velocity qdot

Parameters:

qdot	the 1D joint velocity

Returns:

the resulting 6D-velocity

Definition at line 96 of file joint.cpp.

References RotX, RotY, RotZ, Sphere, Swing, TransX, TransY, TransZ, and KDL::Twist::Zero().

Referenced by KDL::Segment::twist().

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

• joint.hpp
• joint.cpp