Robotics Library  0.6.0
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Public Member Functions
rl::kin::Prismatic Class Reference

#include <Prismatic.h>

Inheritance diagram for rl::kin::Prismatic:
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List of all members.

Public Member Functions

 Prismatic ()
virtual ~Prismatic ()
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
EIGEN_MAKE_ALIGNED_OPERATOR_NEW 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::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 inherited from rl::kin::Joint
::rl::math::Real q

Constructor & Destructor Documentation

rl::kin::Prismatic::Prismatic ( )
rl::kin::Prismatic::~Prismatic ( )
virtual

Member Function Documentation

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

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

Implements rl::kin::Joint.

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

Reimplemented from rl::kin::Joint.


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