KDL::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.

References None, Sphere, and Swing.

Referenced by iTaSC::Armature::addLimitConstraint(), iTaSC::Armature::addSegment(), iTaSC::Armature::getSegment(), KDL::ChainFkSolverPos_recursive::JntToCart(), and KDL::ChainJntToJacSolver::JntToJac().

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.

Referenced by iTaSC::Armature::addLimitConstraint(), iTaSC::Armature::addSegment(), base_callback(), and execute_scene().

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.

References None, RotX, RotY, RotZ, Sphere, Swing, TransX, TransY, and TransZ.

Referenced by KDL::operator<<().

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.

References KDL::Frame::Identity(), Rot(), RotX, KDL::Rotation::RotX(), RotY, KDL::Rotation::RotY(), RotZ, KDL::Rotation::RotZ(), Sphere, Swing, TransX, TransY, and TransZ.

Referenced by KDL::Segment::pose().

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.

References RotX, RotY, RotZ, Sphere, Swing, TransX, TransY, TransZ, and KDL::Twist::Zero().

Referenced by KDL::Segment::twist(), KDL::Segment::twist(), and KDL::Segment::twist().

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

• joint.hpp
• joint.cpp