Robotics Library
0.6.0
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#include <Joint.h>
Public Member Functions | |
Joint (const ::std::size_t &dof) | |
virtual | ~Joint () |
void | forwardAcceleration () |
void | forwardDynamics1 () |
void | forwardDynamics2 () |
void | forwardDynamics3 () |
void | forwardVelocity () |
const ::rl::math::Vector & | getAcceleration () const |
::std::size_t | getDof () const |
const ::rl::math::Vector & | getMaximum () const |
const ::rl::math::Vector & | getMinimum () const |
const ::rl::math::Vector & | getPosition () const |
const ::rl::math::Vector & | getTorque () const |
const ::rl::math::Vector & | getSpeed () const |
const ::rl::math::Vector & | getVelocity () 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) |
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Transform () | |
virtual | ~Transform () |
void | forwardPosition () |
const Edge & | getEdgeDescriptor () const |
virtual void | inverseDynamics1 () |
virtual void | inverseDynamics2 () |
virtual void | inverseVelocity1 (const ::rl::math::Real &lambda) |
void | setEdgeDescriptor (const Edge &descriptor) |
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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 |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef::boost::adjacency_list < ::boost::listS,::boost::listS,::boost::bidirectionalS,::boost::listS > | Tree |
Frame * | in |
Frame * | out |
::rl::math::Transform | t |
::rl::math::PlueckerTransform | x |
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Compound * | compound |
Additional Inherited Members | |
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typedef Tree::edge_descriptor | Edge |
rl::mdl::Joint::Joint | ( | const ::std::size_t & | dof | ) |
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virtual |
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virtual |
Reimplemented from rl::mdl::Transform.
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virtual |
Reimplemented from rl::mdl::Transform.
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virtual |
Reimplemented from rl::mdl::Transform.
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virtual |
Reimplemented from rl::mdl::Transform.
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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 |
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virtual |
Reimplemented from rl::mdl::Transform.
void rl::mdl::Joint::inverseVelocity1 | ( | ) |
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virtual |
Reimplemented from rl::mdl::Transform.
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virtual |
Reimplemented from rl::mdl::Transform.
void rl::mdl::Joint::setAcceleration | ( | const ::rl::math::Vector & | qdd | ) |
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pure virtual |
Implemented in rl::mdl::Helical, rl::mdl::Cylindrical, rl::mdl::Prismatic, and rl::mdl::Revolute.
void rl::mdl::Joint::setTorque | ( | const ::rl::math::Vector & | tau | ) |
void rl::mdl::Joint::setVelocity | ( | const ::rl::math::Vector & | qd | ) |
::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 |