rl::kin::Joint Class Reference

#include <Joint.h>

Inheritance diagram for rl::kin::Joint:

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
Frame *	in
Frame *	out
::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

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

• rl/kin/Joint.h
• rl/kin/Joint.cpp