Robotics Library  0.6.0
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Public Member Functions | Public Attributes | List of all members
rl::mdl::Joint Class Referenceabstract

#include <Joint.h>

Inheritance diagram for rl::mdl::Joint:
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Collaboration diagram for rl::mdl::Joint:
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Public Member Functions

 Joint (const ::std::size_t &dof)
 
virtual ~Joint ()
 
void forwardAcceleration ()
 
void forwardDynamics1 ()
 
void forwardDynamics2 ()
 
void forwardDynamics3 ()
 
void forwardVelocity ()
 
const ::rl::math::VectorgetAcceleration () const
 
::std::size_t getDof () const
 
const ::rl::math::VectorgetMaximum () const
 
const ::rl::math::VectorgetMinimum () const
 
const ::rl::math::VectorgetPosition () const
 
const ::rl::math::VectorgetTorque () const
 
const ::rl::math::VectorgetSpeed () const
 
const ::rl::math::VectorgetVelocity () const
 
void inverseForce ()
 
void inverseVelocity1 ()
 
void inverseVelocity2 ()
 
void inverseVelocity3 ()
 
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)
 
- Public Member Functions inherited from rl::mdl::Transform
 Transform ()
 
virtual ~Transform ()
 
void forwardPosition ()
 
const EdgegetEdgeDescriptor () const
 
virtual void inverseDynamics1 ()
 
virtual void inverseDynamics2 ()
 
virtual void inverseVelocity1 (const ::rl::math::Real &lambda)
 
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
 
::rl::math::Vector qd
 
::rl::math::Vector qdd
 
::rl::math::Matrix S
 
::rl::math::Vector speed
 
::rl::math::Vector tau
 
::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
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef::boost::adjacency_list
< ::boost::listS,::boost::listS,::boost::bidirectionalS,::boost::listS > 
Tree
 
Framein
 
Frameout
 
::rl::math::Transform t
 
::rl::math::PlueckerTransform x
 
- Public Attributes inherited from rl::mdl::Element
Compoundcompound
 

Additional Inherited Members

- Public Types inherited from rl::mdl::Transform
typedef Tree::edge_descriptor Edge
 

Constructor & Destructor Documentation

rl::mdl::Joint::Joint ( const ::std::size_t &  dof)
rl::mdl::Joint::~Joint ( )
virtual

Member Function Documentation

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

Reimplemented from rl::mdl::Transform.

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

Reimplemented from rl::mdl::Transform.

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

Reimplemented from rl::mdl::Transform.

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

Reimplemented from rl::mdl::Transform.

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

Reimplemented from rl::mdl::Transform.

const ::rl::math::Vector & rl::mdl::Joint::getAcceleration ( ) const
std::size_t rl::mdl::Joint::getDof ( ) const
const ::rl::math::Vector & rl::mdl::Joint::getMaximum ( ) const
const ::rl::math::Vector & rl::mdl::Joint::getMinimum ( ) const
const ::rl::math::Vector & rl::mdl::Joint::getPosition ( ) const
const ::rl::math::Vector & rl::mdl::Joint::getSpeed ( ) const
const ::rl::math::Vector & rl::mdl::Joint::getTorque ( ) const
const ::rl::math::Vector & rl::mdl::Joint::getVelocity ( ) const
void rl::mdl::Joint::inverseForce ( )
virtual

Reimplemented from rl::mdl::Transform.

void rl::mdl::Joint::inverseVelocity1 ( )
void rl::mdl::Joint::inverseVelocity2 ( )
virtual

Reimplemented from rl::mdl::Transform.

void rl::mdl::Joint::inverseVelocity3 ( )
virtual

Reimplemented from rl::mdl::Transform.

void rl::mdl::Joint::setAcceleration ( const ::rl::math::Vector qdd)
virtual void rl::mdl::Joint::setPosition ( const ::rl::math::Vector q)
pure virtual
void rl::mdl::Joint::setTorque ( const ::rl::math::Vector tau)
void rl::mdl::Joint::setVelocity ( const ::rl::math::Vector qd)

Member Data Documentation

::rl::math::MotionVector rl::mdl::Joint::a
::rl::math::MotionVector rl::mdl::Joint::c
::rl::math::Matrix rl::mdl::Joint::D
::rl::math::Vector rl::mdl::Joint::max
::rl::math::Vector rl::mdl::Joint::min
::rl::math::Vector rl::mdl::Joint::offset
::rl::math::Vector rl::mdl::Joint::q
::rl::math::Vector rl::mdl::Joint::qd
::rl::math::Vector rl::mdl::Joint::qdd
::rl::math::Matrix rl::mdl::Joint::S
::rl::math::Vector rl::mdl::Joint::speed
::rl::math::Vector rl::mdl::Joint::tau
::rl::math::Vector rl::mdl::Joint::u
::rl::math::Matrix rl::mdl::Joint::U
::rl::math::MotionVector rl::mdl::Joint::v
::Eigen::Matrix< bool, ::Eigen::Dynamic, 1 > rl::mdl::Joint::wraparound

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