Robot Dynamics Library: RobotDynamics::CustomJoint Struct Reference

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...

#include <Joint.hpp>

Collaboration diagram for RobotDynamics::CustomJoint:

[legend]

Public Member Functions
	CustomJoint ()
	Constructor. More...

virtual	~CustomJoint ()
	Destructor. More...

virtual void	jcalc (Model &model, unsigned int joint_id, const Math::VectorNd &q, const Math::VectorNd &qdot)=0

virtual void	jcalc_X_lambda_S (Model &model, unsigned int joint_id, const Math::VectorNd &q)=0

Public Attributes
unsigned int	mDoFCount

Math::SpatialTransform	XJ

Math::MatrixNd	S

Math::MatrixNd	S_o

Math::MatrixNd	U

Math::MatrixNd	Dinv

Math::VectorNd	u

Math::VectorNd	d_u

Math::VectorNd	ndof0_vec

Detailed Description

Constructor & Destructor Documentation

◆ CustomJoint()

RobotDynamics::CustomJoint::CustomJoint ( )

inline

Constructor.

◆ ~CustomJoint()

virtual RobotDynamics::CustomJoint::~CustomJoint ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ jcalc()

virtual void RobotDynamics::CustomJoint::jcalc	(	Model &	model,
		unsigned int	joint_id,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot
	)

pure virtual

Parameters

model
joint_id
q
qdot

◆ jcalc_X_lambda_S()

virtual void RobotDynamics::CustomJoint::jcalc_X_lambda_S	(	Model &	model,
		unsigned int	joint_id,
		const Math::VectorNd &	q
	)

pure virtual

Member Data Documentation

◆ d_u

Math::VectorNd RobotDynamics::CustomJoint::d_u

◆ Dinv

Math::MatrixNd RobotDynamics::CustomJoint::Dinv

◆ mDoFCount

unsigned int RobotDynamics::CustomJoint::mDoFCount

Degrees of freedom of the joint

◆ ndof0_vec

Math::VectorNd RobotDynamics::CustomJoint::ndof0_vec

mDoFCount x 1 vector of zeros

◆ S

Math::MatrixNd RobotDynamics::CustomJoint::S

Motion subspace map

◆ S_o

Math::MatrixNd RobotDynamics::CustomJoint::S_o

Motion subspace map

◆ U

Math::MatrixNd RobotDynamics::CustomJoint::U

◆ u

Math::VectorNd RobotDynamics::CustomJoint::u

◆ XJ

Math::SpatialTransform RobotDynamics::CustomJoint::XJ

Joint state transform. Transform from parent

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

rdl_dynamics/include/rdl_dynamics/Joint.hpp

Public Member Functions

Public Attributes