#include <hpp/model/joint.hh>
Public Member Functions | |
JointSO3 (const Transform3f &initialPosition) | |
JointSO3 (const JointSO3 &joint) | |
virtual JointPtr_t | clone () const |
Return pointer to copy of this Clone body and therefore inner and outer objects (see Body::clone). More... | |
virtual void | computePosition (ConfigurationIn_t configuration, const Transform3f &parentPosition, Transform3f &position) const |
Compute position of joint. More... | |
virtual | ~JointSO3 () |
virtual value_type | upperBoundLinearVelocity () const |
Get upper bound on linear velocity of the joint frame. More... | |
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... | |
const size_type & | configSize () const |
Return number of degrees of freedom. More... | |
const size_type & | rankInConfiguration () const |
Return rank of the joint in the configuration vector. More... | |
size_type | rankInVelocity () const |
Return rank of the joint in the velocity vector. More... | |
JointConfiguration * | configuration () const |
Access to configuration space. More... | |
void | robot (const DeviceWkPtr_t &device) |
Set robot owning the kinematic chain. More... | |
DeviceConstPtr_t | robot () const |
Access robot owning the object. More... | |
DevicePtr_t | robot () |
Access robot owning the object. More... | |
virtual std::ostream & | display (std::ostream &os) const |
Display joint. More... | |
Joint (const Transform3f &initialPosition, size_type configSize, size_type numberDof) | |
Constructor. More... | |
Joint (const Joint &joint) | |
Copy constructor. More... | |
virtual | ~Joint () |
virtual void | name (const std::string &name) |
Set name. More... | |
virtual const std::string & | name () const |
Get name. More... | |
const Transform3f & | initialPosition () const |
Joint initial position (when robot is in zero configuration) More... | |
const Transform3f & | currentTransformation () const |
Joint transformation. More... | |
vector_t | neutralConfiguration () const |
Get neutral configuration of joint. More... | |
JointPtr_t | parentJoint () const |
Get a pointer to the parent joint (if any). More... | |
void | addChildJoint (JointPtr_t joint, bool computePositionInParent=true) |
Add child joint. More... | |
std::size_t | numberChildJoints () const |
Number of child joints. More... | |
JointPtr_t | childJoint (std::size_t rank) const |
Get child joint. More... | |
const Transform3f & | positionInParentFrame () const |
Get position of joint in parent frame. More... | |
void | positionInParentFrame (const Transform3f &p) |
Set position of joint in parent frame. More... | |
void | isBounded (size_type rank, bool bounded) |
bool | isBounded (size_type rank) const |
Get whether given degree of freedom is bounded. More... | |
value_type | lowerBound (size_type rank) const |
Get lower bound of given degree of freedom. More... | |
value_type | upperBound (size_type rank) const |
Get upper bound of given degree of freedom. More... | |
void | lowerBound (size_type rank, value_type lowerBound) |
Set lower bound of given degree of freedom. More... | |
void | upperBound (size_type rank, value_type upperBound) |
Set upper bound of given degree of freedom. More... | |
const value_type & | maximalDistanceToParent () const |
Maximal distance of joint origin to parent origin. More... | |
const JointJacobian_t & | jacobian () const |
Get const reference to Jacobian. More... | |
JointJacobian_t & | jacobian () |
Get non const reference to Jacobian. More... | |
BodyPtr_t | linkedBody () const |
void | setLinkedBody (const BodyPtr_t &body) |
Set linked body. More... | |
const Transform3f & | linkInJointFrame () const |
Get urdf link position in joint frame. More... | |
void | linkInJointFrame (const Transform3f &transform) |
Set urdf link position in joint frame. More... | |
const std::string & | linkName () const |
Get link name. More... | |
void | linkName (const std::string &linkName) |
Set link name. More... | |
Protected Member Functions | |
virtual void | computeMaximalDistanceToParent () |
Additional Inherited Members | |
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JointConfiguration * | configuration_ |
Transform3f | currentTransformation_ |
Transform3f | positionInParentFrame_ |
Transform3f | linkInJointFrame_ |
Transform3f | T3f_ |
value_type | mass_ |
Mass of this and all descendants. More... | |
fcl::Vec3f | massCom_ |
Mass time center of mass of this and all descendants. More... | |
value_type | maximalDistanceToParent_ |
vector_t | neutralConfiguration_ |
Spherical Joint.
map a unit quaternion as input vector to a rotation of SO(3).
hpp::model::JointSO3::JointSO3 | ( | const Transform3f & | initialPosition | ) |
hpp::model::JointSO3::JointSO3 | ( | const JointSO3 & | joint | ) |
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Return pointer to copy of this Clone body and therefore inner and outer objects (see Body::clone).
Implements hpp::model::Joint.
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protectedvirtual |
Implements hpp::model::Joint.
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Compute position of joint.
configuration | the configuration of the robot, |
parentPosition | position of parent joint, |
position | position of this joint. |
Implements hpp::model::Joint.
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inlinevirtual |
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inlinevirtual |