#include <Revolute.h>

Inheritance diagram for rl::kin::Revolute:

[legend]

Public Member Functions
	Revolute ()

virtual	~Revolute ()

::rl::math::Unit	getPositionUnit () const

::rl::math::Unit	getSpeedUnit () const

void	jacobian (const ::rl::math::Transform &tcp, ::rl::math::MatrixBlock &j)

void	setPosition (const ::rl::math::Real &q)

Public Member Functions inherited from rl::kin::Joint
	Joint ()

virtual	~Joint ()

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

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 ()

Additional Inherited Members
Public Attributes inherited from rl::kin::Joint
::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
Frame *	in

Frame *	out

::rl::math::Transform	transform

Public Attributes inherited from rl::kin::Element
::std::string	name

Protected Attributes inherited from rl::kin::Joint
::rl::math::Real	q

Constructor & Destructor Documentation

◆ Revolute()

rl::kin::Revolute::Revolute ( )

rl::kin::Revolute::~Revolute ( )

virtual

rl::math::Unit rl::kin::Revolute::getPositionUnit ( ) const

virtual

rl::math::Unit rl::kin::Revolute::getSpeedUnit ( ) const

virtual

void rl::kin::Revolute::jacobian	(	const ::rl::math::Transform &	tcp,
		::rl::math::MatrixBlock &	j
	)

virtual

\[ {^{0}J_{i}(q)} = \begin{pmatrix}z_{i - 1} \times {^{i - 1}p_{n}}\\z_{i - 1}\end{pmatrix} \]

void rl::kin::Revolute::setPosition ( const ::rl::math::Real & q )

virtual

Reimplemented from rl::kin::Joint.

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