Public Member Functions | Protected Attributes | List of all members
fcl::Joint Class Referenceabstract

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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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 More...
 
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

◆ Joint() [1/2]

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 
)

◆ Joint() [2/2]

fcl::Joint::Joint ( const std::string &  name)

◆ ~Joint()

virtual fcl::Joint::~Joint ( )
inlinevirtual

Member Function Documentation

◆ getChildLink()

boost::shared_ptr<Link> fcl::Joint::getChildLink ( ) const

Referenced by ~Joint().

◆ getJointConfig()

boost::shared_ptr<JointConfig> fcl::Joint::getJointConfig ( ) const

Referenced by ~Joint().

◆ getJointType()

JointType fcl::Joint::getJointType ( ) const

Referenced by ~Joint().

◆ getLocalTransform()

virtual Transform3f fcl::Joint::getLocalTransform ( ) const
pure virtual

◆ getName()

const std::string& fcl::Joint::getName ( ) const

Referenced by ~Joint().

◆ getNumDofs()

virtual std::size_t fcl::Joint::getNumDofs ( ) const
pure virtual

◆ getParentLink()

boost::shared_ptr<Link> fcl::Joint::getParentLink ( ) const

Referenced by ~Joint().

◆ getTransformToParent()

const Transform3f& fcl::Joint::getTransformToParent ( ) const

Referenced by ~Joint().

◆ setChildLink()

void fcl::Joint::setChildLink ( const boost::shared_ptr< Link > &  link)

Referenced by ~Joint().

◆ setJointConfig()

void fcl::Joint::setJointConfig ( const boost::shared_ptr< JointConfig > &  joint_cfg)

Referenced by ~Joint().

◆ setName()

void fcl::Joint::setName ( const std::string &  name)

Referenced by ~Joint().

◆ setParentLink()

void fcl::Joint::setParentLink ( const boost::shared_ptr< Link > &  link)

Referenced by ~Joint().

◆ setTransformToParent()

void fcl::Joint::setTransformToParent ( const Transform3f t)

Referenced by ~Joint().

Member Data Documentation

◆ joint_cfg_

boost::shared_ptr<JointConfig> fcl::Joint::joint_cfg_
protected

◆ link_child_

boost::weak_ptr<Link> fcl::Joint::link_child_
protected

◆ link_parent_

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

◆ name_

std::string fcl::Joint::name_
protected

◆ transform_to_parent_

Transform3f fcl::Joint::transform_to_parent_
protected

◆ type_

JointType fcl::Joint::type_
protected