iTaSC::Joint Class Reference

This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...

#include <joint.hpp>

Public Types
enum	JointType {   RotX , RotY , RotZ , TransX ,   TransY , TransZ , Sphere , Swing ,   None }

Public Member Functions
	Joint (const JointType &type=None, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)
	Joint (const Joint &in)
Joint &	operator= (const Joint &arg)
Frame	pose (const double *q) const
Twist	twist (const double &qdot, int dof=0) const
const JointType &	getType () const
const std::string	getTypeName () const
unsigned int	getNDof () const
virtual	~Joint ()

Detailed Description

This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties.

A simple joint is described by the following properties :

• scale: ratio between motion input and motion output
• offset: between the "physical" and the "logical" zero position.
• type: revolute or translational, along one of the basic frame axes
  • inertia, stiffness and damping: scalars representing the physical effects along/about the joint axis only.

Definition at line 43 of file joint.hpp.

Member Enumeration Documentation

JointType

enum KDL::Joint::JointType

Enumerator
RotX
RotY
RotZ
TransX
TransY
TransZ
Sphere
Swing
None

Definition at line 45 of file joint.hpp.

Constructor & Destructor Documentation

Joint() [1/2]

KDL::Joint::Joint	(	const JointType &	type = None,
		const double &	scale = 1,
		const double &	offset = 0,
		const double &	inertia = 0,
		const double &	damping = 0,
		const double &	stiffness = 0 )

Constructor of a joint.

Parameters

type	type of the joint, default: Joint::None
scale	scale between joint input and actual geometric movement, default: 1
offset	offset between joint input and actual geometric input, default: 0
inertia	1D inertia along the joint axis, default: 0
damping	1D damping along the joint axis, default: 0
stiffness	1D stiffness along the joint axis, default: 0

Definition at line 29 of file joint.cpp.

Joint() [2/2]

KDL::Joint::Joint

(

const Joint &

in

)

Definition at line 36 of file joint.cpp.

~Joint()

KDL::Joint::~Joint ( )

virtual

Definition at line 54 of file joint.cpp.

Member Function Documentation

getNDof()

unsigned int KDL::Joint::getNDof

(

)

const

Definition at line 149 of file joint.cpp.

getType()

const JointType & KDL::Joint::getType ( ) const

inline

Request the type of the joint.

Returns

const reference to the type

Definition at line 88 of file joint.hpp.

getTypeName()

const std::string KDL::Joint::getTypeName ( ) const

inline

Request the stringified type of the joint.

Returns

const string

Definition at line 98 of file joint.hpp.

operator=()

Joint & KDL::Joint::operator=

(

const Joint &

arg

)

Definition at line 42 of file joint.cpp.

pose()

Frame KDL::Joint::pose

(

const double *

q

)

const

Request the 6D-pose between the beginning and the end of the joint at joint position q

Parameters

q	the 1D joint position

Returns

the resulting 6D-pose

Definition at line 58 of file joint.cpp.

twist()

Twist KDL::Joint::twist	(	const double &	qdot,
		int	dof = 0 ) const

Request the resulting 6D-velocity with a joint velocity qdot

Parameters

qdot	the 1D joint velocity

Returns

the resulting 6D-velocity

Definition at line 104 of file joint.cpp.

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The documentation for this class was generated from the following files:

• joint.hpp
• joint.cpp