Robotics Library  0.7.0
Public Member Functions | Public Attributes | Protected Attributes | List of all members
rl::kin::Joint Class Referenceabstract

#include <Joint.h>

Inheritance diagram for rl::kin::Joint:
Inheritance graph
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Public Member Functions

 Joint ()
 
virtual ~Joint ()
 
::rl::math::Real getPosition () const
 
virtual ::rl::math::Unit getPositionUnit () const =0
 
virtual ::rl::math::Unit getSpeedUnit () const =0
 
virtual void jacobian (const ::rl::math::Transform &tcp, ::rl::math::MatrixBlock &j)=0
 
virtual void setPosition (const ::rl::math::Real &q)
 
- Public Member Functions inherited from rl::kin::Transform
 Transform ()
 
virtual ~Transform ()
 
virtual void updateFrames ()
 
- Public Member Functions inherited from rl::kin::Element
 Element ()
 
virtual ~Element ()
 

Public Attributes

::rl::math::Real a
 
::rl::math::Real alpha
 
::rl::math::Real d
 
::std::unordered_set< ::std::size_t > leaves
 
::rl::math::Real max
 
::rl::math::Real min
 
::rl::math::Real offset
 
::rl::math::Real speed
 
::rl::math::Real theta
 
bool wraparound
 
- Public Attributes inherited from rl::kin::Transform
Framein
 
Frameout
 
::rl::math::Transform transform
 
- Public Attributes inherited from rl::kin::Element
::std::string name
 

Protected Attributes

::rl::math::Real q
 

Constructor & Destructor Documentation

◆ Joint()

rl::kin::Joint::Joint ( )

◆ ~Joint()

rl::kin::Joint::~Joint ( )
virtual

Member Function Documentation

◆ getPosition()

rl::math::Real rl::kin::Joint::getPosition ( ) const

◆ getPositionUnit()

virtual ::rl::math::Unit rl::kin::Joint::getPositionUnit ( ) const
pure virtual

Implemented in rl::kin::Revolute, and rl::kin::Prismatic.

◆ getSpeedUnit()

virtual ::rl::math::Unit rl::kin::Joint::getSpeedUnit ( ) const
pure virtual

Implemented in rl::kin::Revolute, and rl::kin::Prismatic.

◆ jacobian()

virtual void rl::kin::Joint::jacobian ( const ::rl::math::Transform tcp,
::rl::math::MatrixBlock j 
)
pure virtual

Implemented in rl::kin::Revolute, and rl::kin::Prismatic.

◆ setPosition()

void rl::kin::Joint::setPosition ( const ::rl::math::Real q)
virtual

Reimplemented in rl::kin::Revolute, and rl::kin::Prismatic.

Member Data Documentation

◆ a

::rl::math::Real rl::kin::Joint::a

◆ alpha

::rl::math::Real rl::kin::Joint::alpha

◆ d

::rl::math::Real rl::kin::Joint::d

◆ leaves

::std::unordered_set< ::std::size_t> rl::kin::Joint::leaves

◆ max

::rl::math::Real rl::kin::Joint::max

◆ min

::rl::math::Real rl::kin::Joint::min

◆ offset

::rl::math::Real rl::kin::Joint::offset

◆ q

::rl::math::Real rl::kin::Joint::q
protected

◆ speed

::rl::math::Real rl::kin::Joint::speed

◆ theta

::rl::math::Real rl::kin::Joint::theta

◆ wraparound

bool rl::kin::Joint::wraparound

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