Public Member Functions | Protected Attributes
fcl::Joint Class Reference

Base Joint. More...

#include <hpp/fcl/articulated_model/joint.h>

Inheritance diagram for fcl::Joint:
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Collaboration diagram for fcl::Joint:
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List of all members.

Public Member Functions

 Joint (const boost::shared_ptr< Link > &link_parent, const boost::shared_ptr< Link > &link_child, const Transform3f &transform_to_parent, const std::string &name)
 Joint (const std::string &name)
virtual ~Joint ()
const std::string & getName () const
void setName (const std::string &name)
virtual Transform3f getLocalTransform () const =0
virtual std::size_t getNumDofs () const =0
boost::shared_ptr< JointConfiggetJointConfig () const
void setJointConfig (const boost::shared_ptr< JointConfig > &joint_cfg)
boost::shared_ptr< LinkgetParentLink () const
boost::shared_ptr< LinkgetChildLink () const
void setParentLink (const boost::shared_ptr< Link > &link)
void setChildLink (const boost::shared_ptr< Link > &link)
JointType getJointType () const
const Transform3fgetTransformToParent () const
void setTransformToParent (const Transform3f &t)

Protected Attributes

boost::weak_ptr< Linklink_parent_
 links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency
boost::weak_ptr< Linklink_child_
JointType type_
std::string name_
boost::shared_ptr< JointConfigjoint_cfg_
Transform3f transform_to_parent_

Detailed Description

Base Joint.


Constructor & Destructor Documentation

fcl::Joint::Joint ( const boost::shared_ptr< Link > &  link_parent,
const boost::shared_ptr< Link > &  link_child,
const Transform3f transform_to_parent,
const std::string &  name 
)
fcl::Joint::Joint ( const std::string &  name)
virtual fcl::Joint::~Joint ( ) [inline, virtual]

Member Function Documentation

boost::shared_ptr<Link> fcl::Joint::getChildLink ( ) const
boost::shared_ptr<JointConfig> fcl::Joint::getJointConfig ( ) const
JointType fcl::Joint::getJointType ( ) const
virtual Transform3f fcl::Joint::getLocalTransform ( ) const [pure virtual]
const std::string& fcl::Joint::getName ( ) const
virtual std::size_t fcl::Joint::getNumDofs ( ) const [pure virtual]
boost::shared_ptr<Link> fcl::Joint::getParentLink ( ) const
const Transform3f& fcl::Joint::getTransformToParent ( ) const
void fcl::Joint::setChildLink ( const boost::shared_ptr< Link > &  link)
void fcl::Joint::setJointConfig ( const boost::shared_ptr< JointConfig > &  joint_cfg)
void fcl::Joint::setName ( const std::string &  name)
void fcl::Joint::setParentLink ( const boost::shared_ptr< Link > &  link)
void fcl::Joint::setTransformToParent ( const Transform3f t)

Member Data Documentation

boost::shared_ptr<JointConfig> fcl::Joint::joint_cfg_ [protected]
boost::weak_ptr<Link> fcl::Joint::link_child_ [protected]
boost::weak_ptr<Link> fcl::Joint::link_parent_ [protected]

links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency

std::string fcl::Joint::name_ [protected]
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