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

#include <src/joint.hpp>

Collaboration diagram for KDL::Joint:

[legend]

Classes
class	joint_type_exception

Public Types
enum	JointType { RotAxis, RotX, RotY, RotZ, TransAxis, TransX, TransY, TransZ, Fixed, None =Fixed }

Public Member Functions
	Joint (const std::string &name, const JointType &type=Fixed, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)
	Constructor of a joint. More...

	Joint (const JointType &type=Fixed, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)
	Constructor of a joint. More...

	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. More...

	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. More...

Frame	pose (const double &q) const
	Request the 6D-pose between the beginning and the end of the joint at joint position q. More...

Twist	twist (const double &qdot) const
	Request the resulting 6D-velocity with a joint velocity qdot. More...

Vector	JointAxis () const
	Request the Vector corresponding to the axis of a revolute joint. More...

Vector	JointOrigin () const
	Request the Vector corresponding to the origin of a revolute joint. More...

const std::string &	getName () const
	Request the name of the joint. More...

const JointType &	getType () const
	Request the type of the joint. More...

const std::string	getTypeName () const
	Request the stringified type of the joint. More...

const double &	getInertia () const
	Request the inertia of the joint. More...

const double &	getDamping () const
	Request the damping of the joint. More...

const double &	getStiffness () const
	Request the stiffness of the joint. More...

virtual	~Joint ()

Private Attributes
std::string	name

Joint::JointType	type

double	scale

double	offset

double	inertia

double	damping

double	stiffness

Vector	axis

Vector	origin

Frame	joint_pose

double	q_previous

KDL::Joint::joint_type_exception	joint_type_ex

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.

Member Enumeration Documentation

◆ JointType

enum KDL::Joint::JointType

Enumerator
RotAxis
RotX
RotY
RotZ
TransAxis
TransX
TransY
TransZ
Fixed
None

Constructor & Destructor Documentation

◆ Joint() [1/4]

KDL::Joint::Joint	(	const std::string &	name,
		const JointType &	type = `Fixed`,
		const double &	scale = `1`,
		const double &	offset = `0`,
		const double &	inertia = `0`,
		const double &	damping = `0`,
		const double &	stiffness = `0`
	)

explicit

Constructor of a joint.

Parameters

name	of the joint
type	type of the joint, default: Joint::Fixed
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

References joint_type_ex, q_previous, RotAxis, TransAxis, and type.

◆ Joint() [2/4]

KDL::Joint::Joint	(	const JointType &	type = `Fixed`,
		const double &	scale = `1`,
		const double &	offset = `0`,
		const double &	inertia = `0`,
		const double &	damping = `0`,
		const double &	stiffness = `0`
	)

explicit

Constructor of a joint.

Parameters

type	type of the joint, default: Joint::Fixed
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

References joint_type_ex, q_previous, RotAxis, TransAxis, and type.

◆ Joint() [3/4]

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
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

References axis, joint_pose, joint_type_ex, KDL::Frame::M, offset, origin, KDL::Frame::p, q_previous, KDL::Rotation::Rot2(), RotAxis, TransAxis, and type.

◆ Joint() [4/4]

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
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

References axis, joint_pose, joint_type_ex, KDL::Frame::M, offset, origin, KDL::Frame::p, q_previous, KDL::Rotation::Rot2(), RotAxis, TransAxis, and type.

◆ ~Joint()

KDL::Joint::~Joint ( )

virtual

Member Function Documentation

◆ getDamping()

const double& KDL::Joint::getDamping ( ) const

inline

Request the damping of the joint.

Returns: const reference to the damping of the joint

References damping.

◆ getInertia()

const double& KDL::Joint::getInertia ( ) const

inline

Request the inertia of the joint.

Returns: const reference to the inertia of the joint

References inertia.

Referenced by KDL::ChainIdSolver_RNE::CartToJnt(), KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ChainDynParam::JntToMass(), and KDL::TreeIdSolver_RNE::rne_step().

◆ getName()

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

inline

Request the name of the joint.

Returns: const reference to the name of the joint

References name.

Referenced by KDL::Tree::getChain(), and KDL::operator<<().

◆ getStiffness()

const double& KDL::Joint::getStiffness ( ) const

inline

Request the stiffness of the joint.

Returns: const reference to the stiffness of the joint

References stiffness.

◆ getType()

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

inline

Request the type of the joint.

Returns: const reference to the type

References type.

Referenced by KDL::Chain::addSegment(), KDL::Tree::addSegment(), KDL::ChainIdSolver_RNE::CartToJnt(), KDL::ChainIkSolverPos_LMA::compute_fwdpos(), KDL::ChainIkSolverPos_LMA::compute_jacobian(), KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), KDL::Tree::getChain(), KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), KDL::ChainJntToJacDotSolver::JntToJacDot(), KDL::ChainDynParam::JntToMass(), and KDL::TreeIdSolver_RNE::rne_step().

◆ getTypeName()

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

inline

Request the stringified type of the joint.

Returns: const string

References Fixed, RotAxis, RotX, RotY, RotZ, TransAxis, TransX, TransY, TransZ, and type.

Referenced by KDL::operator<<().

◆ JointAxis()

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.

References axis, Fixed, RotAxis, RotX, RotY, RotZ, TransAxis, TransX, TransY, TransZ, type, and KDL::Vector::Zero().

Referenced by KDL::Tree::getChain(), and KDL::operator<<().

◆ JointOrigin()

Vector KDL::Joint::JointOrigin ( ) const

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

Returns: Vector

References origin.

Referenced by KDL::Tree::getChain(), and KDL::operator<<().

◆ 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

References axis, Fixed, KDL::Frame::Identity(), joint_pose, KDL::Frame::M, offset, origin, q_previous, KDL::Rotation::Rot2(), RotAxis, RotX, KDL::Rotation::RotX(), RotY, KDL::Rotation::RotY(), RotZ, KDL::Rotation::RotZ(), scale, TransAxis, TransX, TransY, TransZ, and type.

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

◆ 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

References axis, Fixed, RotAxis, RotX, RotY, RotZ, scale, TransAxis, TransX, TransY, TransZ, type, and KDL::Twist::Zero().

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

Member Data Documentation

◆ axis

Vector KDL::Joint::axis

private

Referenced by Joint(), JointAxis(), pose(), and twist().

◆ damping

double KDL::Joint::damping

private

Referenced by getDamping().

◆ inertia

double KDL::Joint::inertia

private

Referenced by getInertia().

◆ joint_pose

Frame KDL::Joint::joint_pose

mutableprivate

Referenced by Joint(), and pose().

◆ joint_type_ex

KDL::Joint::joint_type_exception KDL::Joint::joint_type_ex

private

Referenced by Joint().

◆ name

std::string KDL::Joint::name

private

Referenced by getName().

◆ offset

double KDL::Joint::offset

private

Referenced by Joint(), and pose().

◆ origin

Vector KDL::Joint::origin

private

Referenced by Joint(), JointOrigin(), and pose().

◆ q_previous

double KDL::Joint::q_previous

mutableprivate

Referenced by Joint(), and pose().

◆ scale

double KDL::Joint::scale

private

Referenced by pose(), and twist().

◆ stiffness

double KDL::Joint::stiffness

private

Referenced by getStiffness().

◆ type

Joint::JointType KDL::Joint::type

private

Referenced by getType(), getTypeName(), Joint(), JointAxis(), pose(), and twist().

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

src/joint.hpp
src/joint.cpp

Classes

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ JointType

Constructor & Destructor Documentation

◆ Joint() [1/4]

◆ Joint() [2/4]

◆ Joint() [3/4]

◆ Joint() [4/4]

◆ ~Joint()

Member Function Documentation

◆ getDamping()

◆ getInertia()

◆ getName()

◆ getStiffness()

◆ getType()

◆ getTypeName()

◆ JointAxis()

◆ JointOrigin()

◆ pose()

◆ twist()

Member Data Documentation

◆ axis

◆ damping

◆ inertia

◆ joint_pose

◆ joint_type_ex

◆ name

◆ offset

◆ origin

◆ q_previous

◆ scale

◆ stiffness

◆ type