Robot Dynamics Library: RobotDynamics::Joint Struct Reference

Describes a joint relative to the predecessor body. More...

#include <Joint.hpp>

Collaboration diagram for RobotDynamics::Joint:

Public Member Functions
	Joint ()

	Joint (JointType type)

	Joint (JointType type, int degreesOfFreedom)

	Joint (const Joint &joint)

Joint &	operator= (const Joint &joint)

	~Joint ()

	Joint (const JointType joint_type, const Math::Vector3d &joint_axis)
	Constructs a joint from the given cartesian parameters. More...

	Joint (const Math::SpatialVector &axis_0)
	Constructs a 1 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1)
	Constructs a 2 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1, const Math::SpatialVector &axis_2)
	Constructs a 3 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1, const Math::SpatialVector &axis_2, const Math::SpatialVector &axis_3)
	Constructs a 4 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1, const Math::SpatialVector &axis_2, const Math::SpatialVector &axis_3, const Math::SpatialVector &axis_4)
	Constructs a 5 DoF joint with the given motion subspaces. More...

	Joint (const Math::SpatialVector &axis_0, const Math::SpatialVector &axis_1, const Math::SpatialVector &axis_2, const Math::SpatialVector &axis_3, const Math::SpatialVector &axis_4, const Math::SpatialVector &axis_5)
	Constructs a 6 DoF joint with the given motion subspaces. More...

bool	validate_spatial_axis (Math::SpatialVector &axis)
	Checks whether we have pure rotational or translational axis. More...

Public Attributes
Math::SpatialVector *	mJointAxes
	The spatial axes of the joint. More...

JointType	mJointType
	Type of joint. More...

unsigned int	mDoFCount
	Number of degrees of freedom of the joint. Note: CustomJoints. More...

unsigned int	q_index

unsigned int	custom_joint_index

Detailed Description

Describes a joint relative to the predecessor body.

Note: The construction of a Joint is NOT a realtime safe procedure, so be sure you are not creating temporary joints at runtime. For maximum performance, you should create all joints at config time and just reference those.

This class contains all information required for one single joint. This contains the joint type and the axis of the joint. See Joint Modeling for detailed description.

Constructor & Destructor Documentation

◆ Joint() [1/11]

RobotDynamics::Joint::Joint ( )

inline

◆ Joint() [2/11]

RobotDynamics::Joint::Joint ( JointType type )

inlineexplicit

◆ Joint() [3/11]

RobotDynamics::Joint::Joint	(	JointType	type,
		int	degreesOfFreedom
	)

inline

◆ Joint() [4/11]

RobotDynamics::Joint::Joint ( const Joint & joint )

inline

◆ ~Joint()

RobotDynamics::Joint::~Joint ( )

inline

◆ Joint() [5/11]

RobotDynamics::Joint::Joint	(	const JointType	joint_type,
		const Math::Vector3d &	joint_axis
	)

inline

Constructs a joint from the given cartesian parameters.

This constructor creates all the required spatial values for the given cartesian parameters.

Parameters

joint_type	whether the joint is revolute or prismatic
joint_axis	the axis of rotation or translation

◆ Joint() [6/11]

RobotDynamics::Joint::Joint ( const Math::SpatialVector & axis_0 )

inlineexplicit

Constructs a 1 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0 Motion subspace for axis 0

◆ Joint() [7/11]

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1
	)

inline

Constructs a 2 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1

◆ Joint() [8/11]

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1,
		const Math::SpatialVector &	axis_2
	)

inline

Constructs a 3 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1
axis_2	Motion subspace for axis 2

◆ Joint() [9/11]

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1,
		const Math::SpatialVector &	axis_2,
		const Math::SpatialVector &	axis_3
	)

inline

Constructs a 4 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1
axis_2	Motion subspace for axis 2
axis_3	Motion subspace for axis 3

◆ Joint() [10/11]

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1,
		const Math::SpatialVector &	axis_2,
		const Math::SpatialVector &	axis_3,
		const Math::SpatialVector &	axis_4
	)

inline

Constructs a 5 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1
axis_2	Motion subspace for axis 2
axis_3	Motion subspace for axis 3
axis_4	Motion subspace for axis 4

◆ Joint() [11/11]

RobotDynamics::Joint::Joint	(	const Math::SpatialVector &	axis_0,
		const Math::SpatialVector &	axis_1,
		const Math::SpatialVector &	axis_2,
		const Math::SpatialVector &	axis_3,
		const Math::SpatialVector &	axis_4,
		const Math::SpatialVector &	axis_5
	)

inline

Constructs a 6 DoF joint with the given motion subspaces.

The motion subspaces are of the format:

$(r_x, r_y, r_z, t_x, t_y, t_z)$

Note: So far only pure rotations or pure translations are supported.

Parameters

axis_0	Motion subspace for axis 0
axis_1	Motion subspace for axis 1
axis_2	Motion subspace for axis 2
axis_3	Motion subspace for axis 3
axis_4	Motion subspace for axis 4
axis_5	Motion subspace for axis 5

Member Function Documentation

◆ operator=()

Joint& RobotDynamics::Joint::operator= ( const Joint & joint )

inline

◆ validate_spatial_axis()

bool RobotDynamics::Joint::validate_spatial_axis ( Math::SpatialVector & axis )

inline

Checks whether we have pure rotational or translational axis.

This function is mainly used to print out warnings when specifying an axis that might not be intended.

Member Data Documentation

◆ custom_joint_index

unsigned int RobotDynamics::Joint::custom_joint_index

◆ mDoFCount

unsigned int RobotDynamics::Joint::mDoFCount

Number of degrees of freedom of the joint. Note: CustomJoints.

◆ mJointAxes

Math::SpatialVector* RobotDynamics::Joint::mJointAxes

The spatial axes of the joint.

◆ mJointType

JointType RobotDynamics::Joint::mJointType

Type of joint.

◆ q_index

unsigned int RobotDynamics::Joint::q_index

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

rdl_dynamics/include/rdl_dynamics/Joint.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Joint() [1/11]

◆ Joint() [2/11]

◆ Joint() [3/11]

◆ Joint() [4/11]

◆ ~Joint()

◆ Joint() [5/11]

◆ Joint() [6/11]

◆ Joint() [7/11]

◆ Joint() [8/11]

◆ Joint() [9/11]

◆ Joint() [10/11]

◆ Joint() [11/11]

Member Function Documentation

◆ operator=()

◆ validate_spatial_axis()

Member Data Documentation

◆ custom_joint_index

◆ mDoFCount

◆ mJointAxes

◆ mJointType

◆ q_index