Rotation joint. More...
#include <jrl/dynamics/joint.hh>
Public Member Functions | |
JointRotation (const matrix4d &inInitialPosition) | |
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virtual const std::string & | getName () const |
Get joint name. More... | |
virtual void | setName (const std::string &name) |
Set joint name. More... | |
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... | |
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... | |
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... | |
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... | |
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 | ~Joint () |
Joint (const Joint &inJoint) | |
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virtual | ~CjrlJoint () |
Additional Inherited Members | |
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boost::shared_ptr< CjrlJoint > | m_privateObj |
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Joint () | |
Rotation joint.
dynamicsJRLJapan::JointRotation::JointRotation | ( | const matrix4d & | inInitialPosition | ) |