rl::mdl::Joint Class Reference

#include <Joint.h>

Inheritance diagram for rl::mdl::Joint:

Public Member Functions
	Joint (const ::std::size_t &dofPosition, const ::std::size_t &dofVelocity)
virtual	~Joint ()
virtual void	clip (::rl::math::Vector &q) const
virtual ::rl::math::Real	distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
void	forwardAcceleration ()
void	forwardDynamics1 ()
void	forwardDynamics2 ()
void	forwardDynamics3 ()
void	forwardVelocity ()
virtual ::rl::math::Vector	generatePositionGaussian (const ::rl::math::ConstVectorRef &rand, const ::rl::math::ConstVectorRef &mean, const ::rl::math::ConstVectorRef &sigma) const
virtual ::rl::math::Vector	generatePositionUniform (const ::rl::math::ConstVectorRef &rand) const
const ::rl::math::Vector &	getAcceleration () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &	getAccelerationUnits () const
::std::size_t	getDof () const
::std::size_t	getDofPosition () const
const ::rl::math::Vector &	getMaximum () const
const ::rl::math::Vector &	getMinimum () const
const ::rl::math::Vector &	getPosition () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &	getPositionUnits () const
const ::rl::math::Vector &	getTorque () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &	getTorqueUnits () const
const ::rl::math::Vector &	getSpeed () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &	getSpeedUnits () const
const ::rl::math::Vector &	getVelocity () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &	getVelocityUnits () const
virtual void	interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha, ::rl::math::Vector &q) const
void	inverseForce ()
virtual bool	isValid (const ::rl::math::Vector &q) const
virtual void	normalize (::rl::math::Vector &q) const
void	setAcceleration (const ::rl::math::Vector &qdd)
virtual void	setPosition (const ::rl::math::Vector &q)=0
void	setTorque (const ::rl::math::Vector &tau)
void	setVelocity (const ::rl::math::Vector &qd)
virtual void	step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot, ::rl::math::Vector &q2) const
virtual ::rl::math::Real	transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
Public Member Functions inherited from rl::mdl::Transform
	Transform ()
virtual	~Transform ()
void	forwardPosition ()
const Edge &	getEdgeDescriptor () const
virtual void	inverseDynamics1 ()
virtual void	inverseDynamics2 ()
void	setEdgeDescriptor (const Edge &descriptor)
Public Member Functions inherited from rl::mdl::Element
	Element ()
virtual	~Element ()
const ::std::string &	getName () const
void	setName (const ::std::string &name)

Public Attributes
::rl::math::MotionVector	a
::rl::math::MotionVector	c
::rl::math::Matrix	D
::rl::math::Vector	max
::rl::math::Vector	min
::rl::math::Vector	offset
::rl::math::Vector	q
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	qUnits
::rl::math::Vector	qd
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	qdUnits
::rl::math::Vector	qdd
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	qddUnits
::rl::math::Matrix	S
::rl::math::Vector	speed
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	speedUnits
::rl::math::Vector	tau
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	tauUnits
::rl::math::Vector	u
::rl::math::Matrix	U
::rl::math::MotionVector	v
::Eigen::Matrix< bool, ::Eigen::Dynamic, 1 >	wraparound
Public Attributes inherited from rl::mdl::Transform
Frame *	in
Frame *	out
::rl::math::Transform	t
::rl::math::PlueckerTransform	x
Public Attributes inherited from rl::mdl::Element
Compound *	compound

Additional Inherited Members
Public Types inherited from rl::mdl::Transform
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS >	Tree
typedef Tree::edge_descriptor	Edge

Constructor & Destructor Documentation

Joint()

rl::mdl::Joint::Joint	(	const ::std::size_t &	dofPosition,
		const ::std::size_t &	dofVelocity
	)

~Joint()

rl::mdl::Joint::~Joint ( )

virtual

Member Function Documentation

clip()

void rl::mdl::Joint::clip ( ::rl::math::Vector &  q ) const

virtual

Reimplemented in rl::mdl::Spherical.

distance()

rl::math::Real rl::mdl::Joint::distance	(	const ::rl::math::Vector &	q1,
		const ::rl::math::Vector &	q2
	)		const

forwardAcceleration()

void rl::mdl::Joint::forwardAcceleration ( )

virtual

Reimplemented from rl::mdl::Transform.

forwardDynamics1()

void rl::mdl::Joint::forwardDynamics1 ( )

virtual

Reimplemented from rl::mdl::Transform.

forwardDynamics2()

void rl::mdl::Joint::forwardDynamics2 ( )

virtual

Reimplemented from rl::mdl::Transform.

forwardDynamics3()

void rl::mdl::Joint::forwardDynamics3 ( )

virtual

Reimplemented from rl::mdl::Transform.

forwardVelocity()

void rl::mdl::Joint::forwardVelocity ( )

virtual

Reimplemented from rl::mdl::Transform.

generatePositionGaussian()

rl::math::Vector rl::mdl::Joint::generatePositionGaussian	(	const ::rl::math::ConstVectorRef &	rand,
		const ::rl::math::ConstVectorRef &	mean,
		const ::rl::math::ConstVectorRef &	sigma
	)		const

generatePositionUniform()

rl::math::Vector rl::mdl::Joint::generatePositionUniform

(

const ::rl::math::ConstVectorRef &

rand

)

const

getAcceleration()

const ::rl::math::Vector & rl::mdl::Joint::getAcceleration

(

)

const

getAccelerationUnits()

const ::Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > & rl::mdl::Joint::getAccelerationUnits

(

)

const

getDof()

std::size_t rl::mdl::Joint::getDof

(

)

const

getDofPosition()

std::size_t rl::mdl::Joint::getDofPosition

(

)

const

getMaximum()

const ::rl::math::Vector & rl::mdl::Joint::getMaximum

(

)

const

getMinimum()

const ::rl::math::Vector & rl::mdl::Joint::getMinimum

(

)

const

getPosition()

const ::rl::math::Vector & rl::mdl::Joint::getPosition

(

)

const

getPositionUnits()

const ::Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > & rl::mdl::Joint::getPositionUnits

(

)

const

getSpeed()

const ::rl::math::Vector & rl::mdl::Joint::getSpeed

(

)

const

getSpeedUnits()

const ::Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > & rl::mdl::Joint::getSpeedUnits

(

)

const

getTorque()

const ::rl::math::Vector & rl::mdl::Joint::getTorque

(

)

const

getTorqueUnits()

const ::Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > & rl::mdl::Joint::getTorqueUnits

(

)

const

getVelocity()

const ::rl::math::Vector & rl::mdl::Joint::getVelocity

(

)

const

getVelocityUnits()

const ::Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > & rl::mdl::Joint::getVelocityUnits

(

)

const

interpolate()

void rl::mdl::Joint::interpolate ( const ::rl::math::Vector &  q1, const ::rl::math::Vector &  q2, const ::rl::math::Real &  alpha, ::rl::math::Vector &  q  ) const

virtual

Reimplemented in rl::mdl::Spherical, and rl::mdl::Revolute.

inverseForce()

void rl::mdl::Joint::inverseForce ( )

virtual

Reimplemented from rl::mdl::Transform.

isValid()

bool rl::mdl::Joint::isValid ( const ::rl::math::Vector &  q ) const

virtual

normalize()

void rl::mdl::Joint::normalize ( ::rl::math::Vector &  q ) const

virtual

Reimplemented in rl::mdl::Spherical, and rl::mdl::Revolute.

setAcceleration()

void rl::mdl::Joint::setAcceleration

(

const ::rl::math::Vector &

qdd

)

setPosition()

virtual void rl::mdl::Joint::setPosition ( const ::rl::math::Vector &  q )

pure virtual

Implemented in rl::mdl::Spherical, rl::mdl::Revolute, rl::mdl::Prismatic, rl::mdl::Helical, and rl::mdl::Cylindrical.

setTorque()

void rl::mdl::Joint::setTorque

(

const ::rl::math::Vector &

tau

)

setVelocity()

void rl::mdl::Joint::setVelocity

(

const ::rl::math::Vector &

qd

)

step()

void rl::mdl::Joint::step ( const ::rl::math::Vector &  q1, const ::rl::math::Vector &  qdot, ::rl::math::Vector &  q2  ) const

virtual

Reimplemented in rl::mdl::Spherical.

transformedDistance()

rl::math::Real rl::mdl::Joint::transformedDistance	(	const ::rl::math::Vector &	q1,
		const ::rl::math::Vector &	q2
	)		const

Member Data Documentation

a

::rl::math::MotionVector rl::mdl::Joint::a

c

::rl::math::MotionVector rl::mdl::Joint::c

D

::rl::math::Matrix rl::mdl::Joint::D

max

::rl::math::Vector rl::mdl::Joint::max

min

::rl::math::Vector rl::mdl::Joint::min

offset

::rl::math::Vector rl::mdl::Joint::offset

q

::rl::math::Vector rl::mdl::Joint::q

qd

::rl::math::Vector rl::mdl::Joint::qd

qdd

::rl::math::Vector rl::mdl::Joint::qdd

qddUnits

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1> rl::mdl::Joint::qddUnits

qdUnits

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1> rl::mdl::Joint::qdUnits

qUnits

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1> rl::mdl::Joint::qUnits

S

::rl::math::Matrix rl::mdl::Joint::S

speed

::rl::math::Vector rl::mdl::Joint::speed

speedUnits

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1> rl::mdl::Joint::speedUnits

tau

::rl::math::Vector rl::mdl::Joint::tau

tauUnits

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1> rl::mdl::Joint::tauUnits

u

::rl::math::Vector rl::mdl::Joint::u

U

::rl::math::Matrix rl::mdl::Joint::U

v

::rl::math::MotionVector rl::mdl::Joint::v

wraparound

::Eigen::Matrix<bool, ::Eigen::Dynamic, 1> rl::mdl::Joint::wraparound

---

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

• rl/mdl/Joint.h
• rl/mdl/Joint.cpp