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dynamicsJRLJapan::JointTranslation Class Reference

Translation joint. More...

#include <jrl/dynamics/joint.hh>

Inheritance diagram for dynamicsJRLJapan::JointTranslation:
Collaboration diagram for dynamicsJRLJapan::JointTranslation:

Public Member Functions

 JointTranslation (const matrix4d &inInitialPosition)
 
- Public Member Functions inherited from dynamicsJRLJapan::Joint
virtual const std::string & getName () const
 Get joint name. More...
 
virtual void setName (const std::string &name)
 Set joint name. More...
 
virtual CjrlJointparentJoint () 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 CjrlJointchildJoint (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 matrix4dinitialPosition () const
 Get the initial position of the joint. More...
 
virtual const matrix4dcurrentTransformation () const
 Get the current transformation of the joint. More...
 
virtual CjrlRigidVelocity jointVelocity () const
 Get the velocity $({\bf v}, {\bf \omega})$ 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 matrixNxPjacobianJointWrtConfig () 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 CjrlBodylinkedBody () const
 Get a pointer to the linked body (if any). More...
 
virtual void setLinkedBody (CjrlBody &inBody)
 Link a body to the joint. More...
 
virtual ~Joint ()
 
 Joint (const Joint &inJoint)
 
- Public Member Functions inherited from CjrlJoint
virtual ~CjrlJoint ()
 
virtual const std::string & getName () const=0
 
virtual void setName (const std::string &name)=0
 
virtual CjrlJointparentJoint () const=0
 
virtual bool addChildJoint (CjrlJoint &inJoint)=0
 
virtual unsigned int countChildJoints () const=0
 
virtual CjrlJointchildJoint (unsigned int inJointRank) const=0
 
virtual std::vector< CjrlJoint * > jointsFromRootToThis () const=0
 
virtual unsigned int rankInConfiguration () const=0
 
virtual const matrix4dinitialPosition () const=0
 
virtual const matrix4dcurrentTransformation () 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 matrixNxPjacobianJointWrtConfig () const=0
 
virtual void computeJacobianJointWrtConfig ()=0
 
virtual void getJacobianPointWrtConfig (const vector3d &inPointJointFrame, matrixNxP &outjacobian) const=0
 
virtual CjrlBodylinkedBody () const=0
 
virtual void setLinkedBody (CjrlBody &inBody)=0
 
virtual const std::string & getName () const=0
 
virtual void setName (const std::string &name)=0
 
virtual CjrlJointparentJoint () const=0
 
virtual bool addChildJoint (CjrlJoint &inJoint)=0
 
virtual unsigned int countChildJoints () const=0
 
virtual CjrlJointchildJoint (unsigned int inJointRank) const=0
 
virtual std::vector< CjrlJoint * > jointsFromRootToThis () const=0
 
virtual unsigned int rankInConfiguration () const=0
 
virtual const matrix4dinitialPosition () const=0
 
virtual const matrix4dcurrentTransformation () 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 matrixNxPjacobianJointWrtConfig () const=0
 
virtual void computeJacobianJointWrtConfig ()=0
 
virtual void getJacobianPointWrtConfig (const vector3d &inPointJointFrame, matrixNxP &outjacobian) const=0
 
virtual CjrlBodylinkedBody () const=0
 
virtual void setLinkedBody (CjrlBody &inBody)=0
 

Additional Inherited Members

- Public Attributes inherited from dynamicsJRLJapan::Joint
boost::shared_ptr< CjrlJointm_privateObj
 
- Protected Member Functions inherited from dynamicsJRLJapan::Joint
 Joint ()
 

Detailed Description

Translation joint.

Constructor & Destructor Documentation

◆ JointTranslation()

dynamicsJRLJapan::JointTranslation::JointTranslation ( const matrix4d inInitialPosition)