Robotics Library  0.6.0
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Public Member Functions | Public Attributes | Protected Attributes
rl::kin::Joint Class Reference

#include <Joint.h>

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List of all members.

Public Member Functions

 Joint ()
virtual ~Joint ()
::rl::math::Real getPosition () const
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
EIGEN_MAKE_ALIGNED_OPERATOR_NEW 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::tr1::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

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

Member Function Documentation

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

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

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

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


Member Data Documentation

::rl::math::Real rl::kin::Joint::a
::rl::math::Real rl::kin::Joint::alpha
::rl::math::Real rl::kin::Joint::d
::std::tr1::unordered_set< ::std::size_t > rl::kin::Joint::leaves
::rl::math::Real rl::kin::Joint::max
::rl::math::Real rl::kin::Joint::min
::rl::math::Real rl::kin::Joint::offset
::rl::math::Real rl::kin::Joint::q
protected
::rl::math::Real rl::kin::Joint::speed
::rl::math::Real rl::kin::Joint::theta
bool rl::kin::Joint::wraparound

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