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| Bounded (const Transform3f &initialPosition) |
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| Bounded (const Bounded &joint) |
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JointPtr_t | clone () const |
| Return pointer to copy of this Clone body and therefore inner and outer objects (see Body::clone). More...
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virtual void | computePosition (ConfigurationIn_t configuration, const Transform3f &parentPosition, Transform3f &position) const |
| Compute position of joint. More...
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virtual | ~Bounded () |
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| JointRotation (const Transform3f &initialPosition, size_type configSize, size_type numberDof) |
| Constructor. More...
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| JointRotation (const JointRotation &joint) |
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virtual | ~JointRotation () |
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virtual value_type | upperBoundLinearVelocity () const |
| Get upper bound on linear velocity of the joint frame. More...
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virtual value_type | upperBoundAngularVelocity () const |
| Get upper bound on angular velocity of the joint frame. More...
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const size_type & | numberDof () const |
| Return number of degrees of freedom. More...
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const size_type & | configSize () const |
| Return number of degrees of freedom. More...
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const size_type & | rankInConfiguration () const |
| Return rank of the joint in the configuration vector. More...
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size_type | rankInVelocity () const |
| Return rank of the joint in the velocity vector. More...
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JointConfiguration * | configuration () const |
| Access to configuration space. More...
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void | robot (const DeviceWkPtr_t &device) |
| Set robot owning the kinematic chain. More...
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DeviceConstPtr_t | robot () const |
| Access robot owning the object. More...
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DevicePtr_t | robot () |
| Access robot owning the object. More...
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virtual std::ostream & | display (std::ostream &os) const |
| Display joint. More...
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| Joint (const Transform3f &initialPosition, size_type configSize, size_type numberDof) |
| Constructor. More...
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| Joint (const Joint &joint) |
| Copy constructor. More...
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virtual | ~Joint () |
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virtual void | name (const std::string &name) |
| Set name. More...
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virtual const std::string & | name () const |
| Get name. More...
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const Transform3f & | initialPosition () const |
| Joint initial position (when robot is in zero configuration) More...
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const Transform3f & | currentTransformation () const |
| Joint transformation. More...
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vector_t | neutralConfiguration () const |
| Get neutral configuration of joint. More...
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JointPtr_t | parentJoint () const |
| Get a pointer to the parent joint (if any). More...
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void | addChildJoint (JointPtr_t joint, bool computePositionInParent=true) |
| Add child joint. More...
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std::size_t | numberChildJoints () const |
| Number of child joints. More...
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JointPtr_t | childJoint (std::size_t rank) const |
| Get child joint. More...
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const Transform3f & | positionInParentFrame () const |
| Get position of joint in parent frame. More...
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void | positionInParentFrame (const Transform3f &p) |
| Set position of joint in parent frame. More...
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void | isBounded (size_type rank, bool bounded) |
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bool | isBounded (size_type rank) const |
| Get whether given degree of freedom is bounded. More...
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value_type | lowerBound (size_type rank) const |
| Get lower bound of given degree of freedom. More...
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value_type | upperBound (size_type rank) const |
| Get upper bound of given degree of freedom. More...
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void | lowerBound (size_type rank, value_type lowerBound) |
| Set lower bound of given degree of freedom. More...
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void | upperBound (size_type rank, value_type upperBound) |
| Set upper bound of given degree of freedom. More...
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const value_type & | maximalDistanceToParent () const |
| Maximal distance of joint origin to parent origin. More...
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const JointJacobian_t & | jacobian () const |
| Get const reference to Jacobian. More...
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JointJacobian_t & | jacobian () |
| Get non const reference to Jacobian. More...
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BodyPtr_t | linkedBody () const |
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void | setLinkedBody (const BodyPtr_t &body) |
| Set linked body. More...
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const Transform3f & | linkInJointFrame () const |
| Get urdf link position in joint frame. More...
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void | linkInJointFrame (const Transform3f &transform) |
| Set urdf link position in joint frame. More...
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const std::string & | linkName () const |
| Get link name. More...
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void | linkName (const std::string &linkName) |
| Set link name. More...
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Rotation about an axis with bound.
The configuration space of this joint is an interval of angle.