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mdl
Joint.h
Go to the documentation of this file.
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//
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// Copyright (c) 2009, Markus Rickert
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of the Technische Universitaet Muenchen nor the names of
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// its contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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#ifndef _RL_MDL_JOINT_H_
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#define _RL_MDL_JOINT_H_
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#include <
rl/math/Vector.h
>
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#include "
Transform.h
"
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namespace
rl
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{
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namespace
mdl
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{
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class
Joint
:
public
Transform
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{
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public
:
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Joint
(const ::std::size_t& dof);
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virtual
~Joint
();
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void
forwardAcceleration
();
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void
forwardDynamics1
();
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void
forwardDynamics2
();
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void
forwardDynamics3
();
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void
forwardVelocity
();
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const ::rl::math::Vector
&
getAcceleration
()
const
;
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::std::size_t
getDof
()
const
;
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const ::rl::math::Vector
&
getMaximum
()
const
;
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const ::rl::math::Vector
&
getMinimum
()
const
;
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const ::rl::math::Vector
&
getPosition
()
const
;
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const ::rl::math::Vector
&
getTorque
()
const
;
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const ::rl::math::Vector
&
getSpeed
()
const
;
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const ::rl::math::Vector
&
getVelocity
()
const
;
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void
inverseForce
();
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void
inverseVelocity1
();
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void
inverseVelocity2
();
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void
inverseVelocity3
();
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void
setAcceleration
(
const ::rl::math::Vector
&
qdd
);
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virtual
void
setPosition
(
const ::rl::math::Vector
&
q
) = 0;
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void
setTorque
(
const ::rl::math::Vector
&
tau
);
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void
setVelocity
(
const ::rl::math::Vector
&
qd
);
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::rl::math::MotionVector
a
;
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::rl::math::MotionVector
c
;
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::rl::math::Matrix
D
;
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::rl::math::Vector
max
;
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::rl::math::Vector
min
;
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::rl::math::Vector
offset
;
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::rl::math::Vector
q
;
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::rl::math::Vector
qd
;
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::rl::math::Vector
qdd
;
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::rl::math::Matrix
S
;
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::rl::math::Vector
speed
;
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::rl::math::Vector
tau
;
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::rl::math::Vector
u
;
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::rl::math::Matrix
U
;
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::rl::math::MotionVector
v
;
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::Eigen::Matrix< bool, ::Eigen::Dynamic, 1 >
wraparound
;
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protected
:
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private
:
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};
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}
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}
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#endif // _RL_MDL_JOINT_H_
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