Joint.hpp File Reference

#include <assert.h>
#include <iostream>
#include <rdl_dynamics/RdlExceptions.hpp>
#include <rdl_dynamics/rdl_eigenmath.hpp>

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Classes
struct	RobotDynamics::Joint
	Describes a joint relative to the predecessor body. More...
struct	RobotDynamics::CustomJoint
	CustomJoint is a struct used to create a joint with user defined parameters. This is accomplished by overriding the RobotDynamics::Joint::jcalc methods that calculate each joints kinematic parameters. More...

Namespaces
	RobotDynamics
	Namespace for all structures of the RobotDynamics library.

Enumerations
enum	RobotDynamics::JointType {   RobotDynamics::JointTypeUndefined = 0 , RobotDynamics::JointTypeRevolute , RobotDynamics::JointTypePrismatic , RobotDynamics::JointTypeRevoluteX ,   RobotDynamics::JointTypeRevoluteY , RobotDynamics::JointTypeRevoluteZ , RobotDynamics::JointTypeSpherical , RobotDynamics::JointTypeEulerZYX ,   RobotDynamics::JointTypeEulerXYZ , RobotDynamics::JointTypeEulerYXZ , RobotDynamics::JointTypeTranslationXYZ , RobotDynamics::JointTypeFloatingBase ,   RobotDynamics::JointTypeFixed , RobotDynamics::JointType1DoF , RobotDynamics::JointType2DoF , RobotDynamics::JointType3DoF ,   RobotDynamics::JointType4DoF , RobotDynamics::JointType5DoF , RobotDynamics::JointType6DoF , RobotDynamics::JointTypeCustom }
	General types of joints. More...

Functions
void	RobotDynamics::jcalc (Model &model, unsigned int joint_id, const Math::VectorNd &q, const Math::VectorNd &qdot)
	Computes all variables for a joint model and updates the body frame as well as the body's center of mass frame. More...
Math::SpatialTransform	RobotDynamics::jcalc_XJ (Model &model, unsigned int joint_id, const Math::VectorNd &q)
void	RobotDynamics::jcalc_X_lambda_S (Model &model, unsigned int joint_id, const VectorNd &q)