This class represents a robot joint. More...
#include <jrl/dynamics/joint.hh>
Public Member Functions | |
Joint name | |
virtual const std::string & | getName () const |
Get joint name. More... | |
virtual void | setName (const std::string &name) |
Set joint name. More... | |
Joint hierarchy | |
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... | |
Joint kinematics | |
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 ![]() | |
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... | |
Bounds of the degrees of freedom | |
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... | |
Jacobian functions wrt configuration. | |
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 |
Get the jacobian of the point specified in local frame by inPointJointFrame. More... | |
Body linked to the joint | |
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 () |
Public Attributes | |
boost::shared_ptr< CjrlJoint > | m_privateObj |
Constructor and destructor | |
virtual | ~Joint () |
Joint (const Joint &inJoint) | |
Joint () | |
This class represents a robot joint.
Implements abstract interface CjrlJoint.
|
inlinevirtual |
dynamicsJRLJapan::Joint::Joint | ( | const Joint & | inJoint | ) |
|
protected |
|
virtual |
Add a child joint.
Implements CjrlJoint.
|
virtual |
Returns the child joint at the given rank.
Implements CjrlJoint.
|
virtual |
Compute the joint's jacobian wrt the robot configuration.
Implements CjrlJoint.
|
virtual |
Get the number of children.
Implements CjrlJoint.
|
virtual |
Get the current transformation of the joint.
The current transformation of the joint is the transformation moving the joint from the position in initial configuration to the current position.
The current transformation is determined by the configuration of the robot.
Implements CjrlJoint.
|
virtual |
Get the jacobian of the point specified in local frame by inPointJointFrame.
The output matrix outjacobian is automatically resized if necessary
Implements CjrlJoint.
|
virtual |
Get joint name.
Implements CjrlJoint.
|
virtual |
Get the initial position of the joint.
The initial position of the joint is the position of the local frame of the joint.
Implements CjrlJoint.
|
virtual |
Get the Jacobian matrix of the joint position and orientation wrt the robot configuration.
Kinematical constraints from interaction with the environment are not taken into account for this computation.
The corresponding computation can be done by the robot for each of its joints or by the joint.
Implements CjrlJoint.
|
virtual |
Get the acceleration of the joint.
The acceleratoin is determined by the configuration of the robot and its first and second time derivative: .
Implements CjrlJoint.
|
virtual |
|
virtual |
Get the velocity of the joint.
The velocity is determined by the configuration of the robot and its time derivative: .
Implements CjrlJoint.
|
virtual |
Get a pointer to the linked body (if any).
Implements CjrlJoint.
|
virtual |
Get the lower bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
Implements CjrlJoint.
|
virtual |
Set the lower bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
inLowerBound | lower bound |
Implements CjrlJoint.
|
virtual |
Get the lower torque bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
Implements CjrlJoint.
|
virtual |
Set the lower torque bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
inLowerBound | lower bound |
Implements CjrlJoint.
|
virtual |
Get the lower velocity bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
Implements CjrlJoint.
|
virtual |
Set the lower velocity bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
inLowerBound | lower bound |
Implements CjrlJoint.
|
virtual |
Get the number of degrees of freedom of the joint.
Implements CjrlJoint.
|
virtual |
Get a pointer to the parent joint (if any).
Implements CjrlJoint.
|
virtual |
|
virtual |
Link a body to the joint.
Implements CjrlJoint.
|
virtual |
Set joint name.
Implements CjrlJoint.
|
virtual |
Get the upper bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
Implements CjrlJoint.
|
virtual |
Set the upper bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
inUpperBound | Upper bound. |
Implements CjrlJoint.
|
virtual |
Get the upper veocity bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
Implements CjrlJoint.
|
virtual |
Set the upper torque bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
inUpperBound | Upper bound. |
Implements CjrlJoint.
|
virtual |
Get the upper veocity bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
Implements CjrlJoint.
|
virtual |
Set the upper velocity bound of a given degree of freedom of the joint.
inDofRank | Id of the dof in the joint |
inUpperBound | Upper bound. |
Implements CjrlJoint.
boost::shared_ptr<CjrlJoint> dynamicsJRLJapan::Joint::m_privateObj |