virtual const std::string & getName () const
Get joint name. More...
virtual void setName (const std::string &name)
Set joint name. More...
virtual CjrlJoint * parentJoint () const
Get a pointer to the parent joint (if any). More...
virtual bool addChildJoint (CjrlJoint &inJoint)
Add a child joint. More...
virtual unsigned int countChildJoints () const
Get the number of children. More...
virtual CjrlJoint * childJoint (unsigned int inJointRank) const
Returns the child joint at the given rank. More...
virtual std::vector< CjrlJoint * > jointsFromRootToThis () const
Get a vector containing references of the joints between the rootJoint and this joint. More...
virtual unsigned int rankInConfiguration () const
Get the rank of this joint in the robot configuration vector. More...
virtual const matrix4d & initialPosition () const
Get the initial position of the joint. More...
virtual const matrix4d & currentTransformation () const
Get the current transformation of the joint. More...
virtual CjrlRigidVelocity jointVelocity () const
Get the velocity of the joint. More...
virtual CjrlRigidAcceleration jointAcceleration () const
Get the acceleration of the joint. More...
virtual unsigned int numberDof () const
Get the number of degrees of freedom of the joint. More...
virtual double lowerBound (unsigned int inDofRank) const
Get the lower bound of a given degree of freedom of the joint. More...
virtual double upperBound (unsigned int inDofRank) const
Get the upper bound of a given degree of freedom of the joint. More...
virtual void lowerBound (unsigned int inDofRank, double inLowerBound)
Set the lower bound of a given degree of freedom of the joint. More...
virtual void upperBound (unsigned int inDofRank, double inUpperBound)
Set the upper bound of a given degree of freedom of the joint. More...
virtual double lowerVelocityBound (unsigned int inDofRank) const
Get the lower velocity bound of a given degree of freedom of the joint. More...
virtual double upperVelocityBound (unsigned int inDofRank) const
Get the upper veocity bound of a given degree of freedom of the joint. More...
virtual void lowerVelocityBound (unsigned int inDofRank, double inLowerBound)
Set the lower velocity bound of a given degree of freedom of the joint. More...
virtual void upperVelocityBound (unsigned int inDofRank, double inUpperBound)
Set the upper velocity bound of a given degree of freedom of the joint. More...
virtual double lowerTorqueBound (unsigned int inDofRank) const
Get the lower torque bound of a given degree of freedom of the joint. More...
virtual double upperTorqueBound (unsigned int inDofRank) const
Get the upper veocity bound of a given degree of freedom of the joint. More...
virtual void lowerTorqueBound (unsigned int inDofRank, double inLowerBound)
Set the lower torque bound of a given degree of freedom of the joint. More...
virtual void upperTorqueBound (unsigned int inDofRank, double inUpperBound)
Set the upper torque bound of a given degree of freedom of the joint. More...
virtual const matrixNxP & jacobianJointWrtConfig () const
Get the Jacobian matrix of the joint position and orientation wrt the robot configuration. More...
virtual void computeJacobianJointWrtConfig ()
Compute the joint's jacobian wrt the robot configuration. More...
virtual void getJacobianPointWrtConfig (const vector3d &inPointJointFrame, matrixNxP &outjacobian) const
virtual CjrlBody * linkedBody () const
Get a pointer to the linked body (if any). More...
virtual void setLinkedBody (CjrlBody &inBody)
Link a body to the joint. More...
virtual ~CjrlJoint ()
virtual const std::string & getName () const=0
virtual void setName (const std::string &name)=0
virtual CjrlJoint * parentJoint () const=0
virtual bool addChildJoint (CjrlJoint &inJoint)=0
virtual unsigned int countChildJoints () const=0
virtual CjrlJoint * childJoint (unsigned int inJointRank) const=0
virtual std::vector< CjrlJoint * > jointsFromRootToThis () const=0
virtual unsigned int rankInConfiguration () const=0
virtual const matrix4d & initialPosition () const=0
virtual const matrix4d & currentTransformation () const=0
virtual CjrlRigidVelocity jointVelocity () const=0
virtual CjrlRigidAcceleration jointAcceleration () const=0
virtual unsigned int numberDof () const=0
virtual double lowerBound (unsigned int inDofRank) const=0
virtual double upperBound (unsigned int inDofRank) const=0
virtual void lowerBound (unsigned int inDofRank, double inLowerBound)=0
virtual void upperBound (unsigned int inDofRank, double inUpperBound)=0
virtual double lowerVelocityBound (unsigned int inDofRank) const=0
virtual double upperVelocityBound (unsigned int inDofRank) const=0
virtual void lowerVelocityBound (unsigned int inDofRank, double inLowerBound)=0
virtual void upperVelocityBound (unsigned int inDofRank, double inUpperBound)=0
virtual double lowerTorqueBound (unsigned int inDofRank) const=0
virtual double upperTorqueBound (unsigned int inDofRank) const=0
virtual void lowerTorqueBound (unsigned int inDofRank, double inLowerBound)=0
virtual void upperTorqueBound (unsigned int inDofRank, double inUpperBound)=0
virtual const matrixNxP & jacobianJointWrtConfig () const=0
virtual void computeJacobianJointWrtConfig ()=0
virtual void getJacobianPointWrtConfig (const vector3d &inPointJointFrame, matrixNxP &outjacobian) const=0
virtual CjrlBody * linkedBody () const=0
virtual void setLinkedBody (CjrlBody &inBody)=0
virtual const std::string & getName () const=0
virtual void setName (const std::string &name)=0
virtual CjrlJoint * parentJoint () const=0
virtual bool addChildJoint (CjrlJoint &inJoint)=0
virtual unsigned int countChildJoints () const=0
virtual CjrlJoint * childJoint (unsigned int inJointRank) const=0
virtual std::vector< CjrlJoint * > jointsFromRootToThis () const=0
virtual unsigned int rankInConfiguration () const=0
virtual const matrix4d & initialPosition () const=0
virtual const matrix4d & currentTransformation () const=0
virtual CjrlRigidVelocity jointVelocity () const=0
virtual CjrlRigidAcceleration jointAcceleration () const=0
virtual unsigned int numberDof () const=0
virtual double lowerBound (unsigned int inDofRank) const=0
virtual double upperBound (unsigned int inDofRank) const=0
virtual void lowerBound (unsigned int inDofRank, double inLowerBound)=0
virtual void upperBound (unsigned int inDofRank, double inUpperBound)=0
virtual double lowerVelocityBound (unsigned int inDofRank) const=0
virtual double upperVelocityBound (unsigned int inDofRank) const=0
virtual void lowerVelocityBound (unsigned int inDofRank, double inLowerBound)=0
virtual void upperVelocityBound (unsigned int inDofRank, double inUpperBound)=0
virtual double lowerTorqueBound (unsigned int inDofRank) const=0
virtual double upperTorqueBound (unsigned int inDofRank) const=0
virtual void lowerTorqueBound (unsigned int inDofRank, double inLowerBound)=0
virtual void upperTorqueBound (unsigned int inDofRank, double inUpperBound)=0
virtual const matrixNxP & jacobianJointWrtConfig () const=0
virtual void computeJacobianJointWrtConfig ()=0
virtual void getJacobianPointWrtConfig (const vector3d &inPointJointFrame, matrixNxP &outjacobian) const=0
virtual CjrlBody * linkedBody () const=0
virtual void setLinkedBody (CjrlBody &inBody)=0
This class represents a robot joint.
Implements abstract interface CjrlJoint .