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 { 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)
	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)
	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)
	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)
Frame	pose (const double &q) const
Twist	twist (const double &qdot) const
Vector	JointAxis () const
Vector	JointOrigin () const
const std::string &	getName () const
const JointType &	getType () const
const std::string	getTypeName () const
const double &	getScale () const
const double &	getOffset () const
const double &	getInertia () const
const double &	getDamping () const
const double &	getStiffness () const
const Vector &	getAxis () const
const Vector &	getOrigin () 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.

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

◆ 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

◆ 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

◆ 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

◆ ~Joint()

virtual KDL::Joint::~Joint ( )

virtual

Member Function Documentation

◆ getAxis()

const Vector & KDL::Joint::getAxis ( ) const

inline

Request the axis of the joint.

Returns: const reference to the axis of the joint

◆ getDamping()

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

inline

Request the damping of the joint.

Returns: const reference to the damping of the joint

◆ getInertia()

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

inline

Request the inertia of the joint.

Returns: const reference to the inertia of the joint

◆ getName()

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

inline

Request the name of the joint

Returns: const reference to the name of the joint

◆ getOffset()

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

inline

Request the offset of the joint.

Returns: const reference to the offset of the joint

◆ getOrigin()

const Vector & KDL::Joint::getOrigin ( ) const

inline

Request the origin of the joint.

Returns: const reference to the origin of the joint

◆ getScale()

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

inline

Request the scale of the joint.

Returns: const reference to the scale of the joint

◆ getStiffness()

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

inline

Request the stiffness of the joint.

Returns: const reference to the stiffness of the joint

◆ getType()

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

inline

Request the type of the joint.

Returns: const reference to the type

◆ getTypeName()

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

inline

Request the stringified type of the joint.

Returns: const string

◆ 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.

◆ JointOrigin()

Vector KDL::Joint::JointOrigin ( ) const

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

Returns: Vector

◆ 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

◆ 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

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

build/orocos_kdl_install/include/kdl/joint.hpp

Public Types

Public Member Functions

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

◆ getAxis()

◆ getDamping()

◆ getInertia()

◆ getName()

◆ getOffset()

◆ getOrigin()

◆ getScale()

◆ getStiffness()

◆ getType()

◆ getTypeName()

◆ JointAxis()

◆ JointOrigin()

◆ pose()

◆ twist()