hpp::model::JointAnchor Class Reference

Anchor Joint. More...

#include <hpp/model/joint.hh>

Inheritance diagram for hpp::model::JointAnchor:
Collaboration diagram for hpp::model::JointAnchor:

Public Member Functions

 JointAnchor (const Transform3f &initialPosition)
 
 JointAnchor (const JointAnchor &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 ~JointAnchor ()
 
virtual void computePosition (ConfigurationIn_t configuration, const Transform3f &parentPosition, Transform3f &position) const
 Compute position of joint. More...
 
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...
 
- Public Member Functions inherited from hpp::model::Joint
const size_typenumberDof () const
 Return number of degrees of freedom. More...
 
const size_typeconfigSize () const
 Return number of degrees of freedom. More...
 
const size_typerankInConfiguration () 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...
 
JointConfigurationconfiguration () 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 Transform3finitialPosition () const
 Joint initial position (when robot is in zero configuration) More...
 
const Transform3fcurrentTransformation () 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 Transform3fpositionInParentFrame () 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_typemaximalDistanceToParent () const
 Maximal distance of joint origin to parent origin. More...
 
const JointJacobian_tjacobian () const
 Get const reference to Jacobian. More...
 
JointJacobian_tjacobian ()
 Get non const reference to Jacobian. More...
 
BodyPtr_t linkedBody () const
 
void setLinkedBody (const BodyPtr_t &body)
 Set linked body. More...
 
const Transform3flinkInJointFrame () 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

- Protected Attributes inherited from hpp::model::Joint
JointConfigurationconfiguration_
 
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_
 

Detailed Description

Anchor Joint.

An anchor joint has no degree of freedom. It is usually used as an intermediate frame in a kinematic chain, or as a root joint for a multi-robot kinematic chain.

Constructor & Destructor Documentation

◆ JointAnchor() [1/2]

hpp::model::JointAnchor::JointAnchor ( const Transform3f initialPosition)

◆ JointAnchor() [2/2]

hpp::model::JointAnchor::JointAnchor ( const JointAnchor joint)

◆ ~JointAnchor()

virtual hpp::model::JointAnchor::~JointAnchor ( )
virtual

Member Function Documentation

◆ clone()

virtual JointPtr_t hpp::model::JointAnchor::clone ( ) const
virtual

Return pointer to copy of this Clone body and therefore inner and outer objects (see Body::clone).

Implements hpp::model::Joint.

◆ computeMaximalDistanceToParent()

virtual void hpp::model::JointAnchor::computeMaximalDistanceToParent ( )
protectedvirtual

Implements hpp::model::Joint.

◆ computePosition()

virtual void hpp::model::JointAnchor::computePosition ( ConfigurationIn_t  configuration,
const Transform3f parentPosition,
Transform3f position 
) const
virtual

Compute position of joint.

Parameters
configurationthe configuration of the robot,
parentPositionposition of parent joint,
Return values
positionposition of this joint.

Implements hpp::model::Joint.

◆ upperBoundAngularVelocity()

virtual value_type hpp::model::JointAnchor::upperBoundAngularVelocity ( ) const
inlinevirtual

Get upper bound on angular velocity of the joint frame.

Returns
0

Implements hpp::model::Joint.

◆ upperBoundLinearVelocity()

virtual value_type hpp::model::JointAnchor::upperBoundLinearVelocity ( ) const
inlinevirtual

Get upper bound on linear velocity of the joint frame.

Returns
0

Implements hpp::model::Joint.