Free flyer joint. More...
#include <jrl/dynamics/joint.hh>


Public Member Functions | |
| JointFreeflyer (const matrix4d &inInitialPosition) | |
Public Member Functions inherited from dynamicsJRLJapan::Joint | |
| virtual const std::string & | getName () const |
| Get joint name. | |
| virtual void | setName (const std::string &name) |
| Set joint name. | |
| virtual CjrlJoint * | parentJoint () const |
| Get a pointer to the parent joint (if any). | |
| virtual bool | addChildJoint (CjrlJoint &inJoint) |
| Add a child joint. | |
| virtual unsigned int | countChildJoints () const |
| Get the number of children. | |
| virtual CjrlJoint * | childJoint (unsigned int inJointRank) const |
| Returns the child joint at the given rank. | |
| virtual std::vector< CjrlJoint * > | jointsFromRootToThis () const |
| Get a vector containing references of the joints between the rootJoint and this joint. | |
| virtual unsigned int | rankInConfiguration () const |
| Get the rank of this joint in the robot configuration vector. | |
| virtual const matrix4d & | initialPosition () const |
| Get the initial position of the joint. | |
| virtual const matrix4d & | currentTransformation () const |
| Get the current transformation of the joint. | |
| virtual CjrlRigidVelocity | jointVelocity () const |
| Get the velocity | |
| virtual CjrlRigidAcceleration | jointAcceleration () const |
| Get the acceleration of the joint. | |
| virtual unsigned int | numberDof () const |
| Get the number of degrees of freedom of the joint. | |
| virtual double | lowerBound (unsigned int inDofRank) const |
| Get the lower bound of a given degree of freedom of the joint. | |
| virtual double | upperBound (unsigned int inDofRank) const |
| Get the upper bound of a given degree of freedom of the joint. | |
| virtual void | lowerBound (unsigned int inDofRank, double inLowerBound) |
| Set the lower bound of a given degree of freedom of the joint. | |
| virtual void | upperBound (unsigned int inDofRank, double inUpperBound) |
| Set the upper bound of a given degree of freedom of the joint. | |
| virtual double | lowerVelocityBound (unsigned int inDofRank) const |
| Get the lower velocity bound of a given degree of freedom of the joint. | |
| virtual double | upperVelocityBound (unsigned int inDofRank) const |
| Get the upper veocity bound of a given degree of freedom of the joint. | |
| virtual void | lowerVelocityBound (unsigned int inDofRank, double inLowerBound) |
| Set the lower velocity bound of a given degree of freedom of the joint. | |
| virtual void | upperVelocityBound (unsigned int inDofRank, double inUpperBound) |
| Set the upper velocity bound of a given degree of freedom of the joint. | |
| virtual double | lowerTorqueBound (unsigned int inDofRank) const |
| Get the lower torque bound of a given degree of freedom of the joint. | |
| virtual double | upperTorqueBound (unsigned int inDofRank) const |
| Get the upper veocity bound of a given degree of freedom of the joint. | |
| virtual void | lowerTorqueBound (unsigned int inDofRank, double inLowerBound) |
| Set the lower torque bound of a given degree of freedom of the joint. | |
| virtual void | upperTorqueBound (unsigned int inDofRank, double inUpperBound) |
| Set the upper torque bound of a given degree of freedom of the joint. | |
| virtual const matrixNxP & | jacobianJointWrtConfig () const |
| Get the Jacobian matrix of the joint position and orientation wrt the robot configuration. | |
| virtual void | computeJacobianJointWrtConfig () |
| Compute the joint's jacobian wrt the robot configuration. | |
| virtual void | getJacobianPointWrtConfig (const vector3d &inPointJointFrame, matrixNxP &outjacobian) const |
| virtual CjrlBody * | linkedBody () const |
| Get a pointer to the linked body (if any). | |
| virtual void | setLinkedBody (CjrlBody &inBody) |
| Link a body to the joint. | |
| virtual | ~Joint () |
| Joint (const Joint &inJoint) | |
Public Member Functions inherited from CjrlJoint | |
| virtual | ~CjrlJoint () |
Additional Inherited Members | |
Public Attributes inherited from dynamicsJRLJapan::Joint | |
| boost::shared_ptr< CjrlJoint > | m_privateObj |
Protected Member Functions inherited from dynamicsJRLJapan::Joint | |
| Joint () | |
Free flyer joint.
| dynamicsJRLJapan::JointFreeflyer::JointFreeflyer | ( | const matrix4d & | inInitialPosition | ) |