KDL::Joint Class Reference

#include <src/joint.hpp>

Collaboration diagram for KDL::Joint:

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.
	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.
	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 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.
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.
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.
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.
const double &	getInertia () const
	Request the inertia of the joint.
const double &	getDamping () const
	Request the damping of the joint.
const double &	getStiffness () const
	Request the stiffness of the joint.
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

 \brief 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 damping, inertia, joint_type_ex, name, offset, q_previous, RotAxis, scale, stiffness, 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 damping, inertia, joint_type_ex, name, offset, q_previous, RotAxis, scale, stiffness, 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, damping, inertia, joint_pose, joint_type_ex, name, offset, origin, q_previous, KDL::Rotation::Rot2(), RotAxis, scale, stiffness, 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, damping, inertia, joint_pose, joint_type_ex, name, offset, origin, q_previous, KDL::Rotation::Rot2(), RotAxis, scale, stiffness, 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::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::ChainIkSolverPos_LMA::compute_fwdpos(), KDL::ChainIkSolverPos_LMA::compute_jacobian(), KDL::Tree::getChain(), KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep(), 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, 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.

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().

Member Data Documentation

axis

Vector KDL::Joint::axis

private

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

damping

double KDL::Joint::damping

private

Referenced by getDamping(), Joint(), Joint(), Joint(), and Joint().

inertia

double KDL::Joint::inertia

private

Referenced by getInertia(), Joint(), Joint(), Joint(), and Joint().

joint_pose

Frame KDL::Joint::joint_pose

mutableprivate

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

joint_type_ex

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

private

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

name

std::string KDL::Joint::name

private

Referenced by getName(), Joint(), Joint(), Joint(), and Joint().

offset

double KDL::Joint::offset

private

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

origin

Vector KDL::Joint::origin

private

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

q_previous

double KDL::Joint::q_previous

mutableprivate

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

scale

double KDL::Joint::scale

private

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

stiffness

double KDL::Joint::stiffness

private

Referenced by getStiffness(), Joint(), Joint(), Joint(), and Joint().

type

Joint::JointType KDL::Joint::type

private

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

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

• src/joint.hpp
• src/joint.cpp