Joint Class Reference

A joint class that connects two links. More...

#include <model/Joint.h>

Public Types
enum	Type {   FIXED, REVOLUTE, CONTINUOUS, PRISMATIC,   FLOATING }

Public Member Functions
template<typename Reflector >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	reflect (Reflector &r)

Public Attributes
std::string	name
	Name of the joint. More...
Type	type
	The joint's type. More...
Pose3	origin
	Specifies the transform from child link to parent link. More...
Point3f	axis
	Axis of rotation for REVOLUTE and CONTINUOUS joints, axis of translation for PRISMATIC joints. More...
std::string	parent
	Parent link. More...
std::string	child
	Child link. More...
float	lowerLimit
	Lower limit for REVOLUTE (rad) and PRISMATIC (meter) joints. More...
float	upperLimit
	Upper limit for REVOLUTE (rad) and PRISMATIC (meter) joints. More...

Detailed Description

A joint class that connects two links.

There are various types of joints available.

Member Enumeration Documentation

Type

enum Type

Enumerator
FIXED	For a fixed joint all degrees of freedom are locked and its state is fixed.
REVOLUTE	Can rotate about the given axis but is limited by upper and lower limit.
CONTINUOUS	Can rotate about the given axis with no given limits.
PRISMATIC	Can move/slide along the given axis but is limited by upper and lower limit.
FLOATING	Can move freely in all degrees of freedom.

Member Function Documentation

reflect()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void reflect ( Reflector &  r )

inline

Member Data Documentation

name

std::string name

Name of the joint.

type

Type type

The joint's type.

origin

Pose3 origin

Specifies the transform from child link to parent link.

axis

Point3f axis

Axis of rotation for REVOLUTE and CONTINUOUS joints, axis of translation for PRISMATIC joints.

parent

std::string parent

Parent link.

child

std::string child

Child link.

lowerLimit

float lowerLimit

Lower limit for REVOLUTE (rad) and PRISMATIC (meter) joints.

upperLimit

float upperLimit

Upper limit for REVOLUTE (rad) and PRISMATIC (meter) joints.

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

• include/model/Joint.h