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>

List of all members.

Public Types
enum	JointType {   RotAxis, RotX, RotY, RotZ,   TransAxis, TransX, TransY, TransZ,   None }
Public Member Functions
const std::string &	getName () const
	Request the name of the joint.
const JointType &	getType () const
	Request the type of the joint.
const std::string	getTypeName () const
	Request the stringified type of the joint.
	Joint (const Vector &_origin, const Vector &_axis, const JointType &type, const double &_scale=1, const double &_offset=0, const double &_inertia=0, const double &_damping=0, const double &_stiffness=0)
	Constructor of a joint.
	Joint (const std::string &name, const Vector &_origin, const Vector &_axis, const JointType &type, const double &_scale=1, const double &_offset=0, const double &_inertia=0, const double &_damping=0, const double &_stiffness=0)
	Constructor of a 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.
	Joint (const std::string &name, 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.
Vector	JointAxis () const
	Request the Vector corresponding to the axis of a revolute joint.
Vector	JointOrigin () const
	Request the Vector corresponding to the origin of a revolute joint.
Frame	pose (const double &q) const
	Request the 6D-pose between the beginning and the end of the joint at joint position q.
Twist	twist (const double &qdot) const
	Request the resulting 6D-velocity with a joint velocity qdot.
virtual	~Joint ()

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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 45 of file joint.hpp.

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Member Enumeration Documentation

enum KDL::Joint::JointType

Enumerator:

RotAxis
RotX
RotY
RotZ
TransAxis
TransX
TransY
TransZ
None

Definition at line 47 of file joint.hpp.

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Constructor & Destructor Documentation

KDL::Joint::Joint	(	const std::string &	name,
		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:

	name	of the joint
	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 27 of file joint.cpp.

References RotAxis, and TransAxis.

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 35 of file joint.cpp.

References RotAxis, and TransAxis.

KDL::Joint::Joint	(	const std::string &	name,
		const Vector &	_origin,
		const Vector &	_axis,
		const JointType &	type,
		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:

	name	of the joint
	_origin	the origin of the joint
	_axis	the axis of the joint
	type	type of the joint
	_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 43 of file joint.cpp.

References KDL::Frame::M, KDL::Frame::p, KDL::Rotation::Rot2(), RotAxis, and TransAxis.

KDL::Joint::Joint	(	const Vector &	_origin,
		const Vector &	_axis,
		const JointType &	type,
		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:

	_origin	the origin of the joint
	_axis	the axis of the joint
	type	type of the joint
	_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 56 of file joint.cpp.

References KDL::Frame::M, KDL::Frame::p, KDL::Rotation::Rot2(), RotAxis, and TransAxis.

KDL::Joint::~Joint

(

)

[virtual]

Definition at line 68 of file joint.cpp.

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Member Function Documentation

const std::string& KDL::Joint::getName

(

void

)

const [inline]

Request the name of the joint.

Returns:

const reference to the name of the joint

Definition at line 152 of file joint.hpp.

Referenced by KDL::Tree::getChain().

const JointType& KDL::Joint::getType

(

void

)

const [inline]

Request the type of the joint.

Returns:

const reference to the type

Definition at line 161 of file joint.hpp.

Referenced by KDL::Tree::addSegment(), KDL::Chain::addSegment(), KDL::ChainIdSolver_RNE::CartToJnt(), KDL::Tree::getChain(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), and KDL::ChainDynParam::JntToMass().

const std::string KDL::Joint::getTypeName

(

void

)

const [inline]

Request the stringified type of the joint.

Returns:

const string

Definition at line 171 of file joint.hpp.

References None, RotAxis, RotX, RotY, RotZ, TransAxis, TransX, TransY, and TransZ.

Vector KDL::Joint::JointAxis

(

)

const

Request the Vector corresponding to the axis of a revolute joint.

Returns:

Vector. e.g (1,0,0) for RotX etc.

Definition at line 144 of file joint.cpp.

References None, RotAxis, RotX, RotY, RotZ, TransAxis, TransX, TransY, TransZ, and KDL::Vector::Zero().

Referenced by KDL::Tree::getChain().

Vector KDL::Joint::JointOrigin

(

)

const

Request the Vector corresponding to the origin of a revolute joint.

Returns:

Vector

Definition at line 178 of file joint.cpp.

Referenced by KDL::Tree::getChain().

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 72 of file joint.cpp.

References KDL::Frame::Identity(), KDL::Frame::M, None, KDL::Rotation::Rot2(), RotAxis, KDL::Rotation::RotX(), RotX, KDL::Rotation::RotY(), RotY, KDL::Rotation::RotZ(), RotZ, TransAxis, TransX, TransY, and TransZ.

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

Twist KDL::Joint::twist

(

const double &

qdot

)

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 111 of file joint.cpp.

References None, RotAxis, RotX, RotY, RotZ, TransAxis, TransX, TransY, TransZ, and KDL::Twist::Zero().

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

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

• joint.hpp
• joint.cpp