fcl::Joint Class Reference

Base Joint. More...

#include <hpp/fcl/articulated_model/joint.h>

Inheritance diagram for fcl::Joint:

Collaboration diagram for fcl::Joint:

Public Member Functions
	Joint (const boost::shared_ptr< Link > &link_parent, const boost::shared_ptr< Link > &link_child, const Transform3f &transform_to_parent, const std::string &name)
	Joint (const std::string &name)
virtual	~Joint ()
const std::string &	getName () const
void	setName (const std::string &name)
virtual Transform3f	getLocalTransform () const =0
virtual std::size_t	getNumDofs () const =0
boost::shared_ptr< JointConfig >	getJointConfig () const
void	setJointConfig (const boost::shared_ptr< JointConfig > &joint_cfg)
boost::shared_ptr< Link >	getParentLink () const
boost::shared_ptr< Link >	getChildLink () const
void	setParentLink (const boost::shared_ptr< Link > &link)
void	setChildLink (const boost::shared_ptr< Link > &link)
JointType	getJointType () const
const Transform3f &	getTransformToParent () const
void	setTransformToParent (const Transform3f &t)

Protected Attributes
boost::weak_ptr< Link >	link_parent_
	links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency More...
boost::weak_ptr< Link >	link_child_
JointType	type_
std::string	name_
boost::shared_ptr< JointConfig >	joint_cfg_
Transform3f	transform_to_parent_

Detailed Description

Base Joint.

Constructor & Destructor Documentation

fcl::Joint::Joint	(	const boost::shared_ptr< Link > &	link_parent,
		const boost::shared_ptr< Link > &	link_child,
		const Transform3f &	transform_to_parent,
		const std::string &	name
	)

fcl::Joint::Joint

(

const std::string &

name

)

virtual fcl::Joint::~Joint ( )

inlinevirtual

Member Function Documentation

boost::shared_ptr<Link> fcl::Joint::getChildLink

(

)

const

boost::shared_ptr<JointConfig> fcl::Joint::getJointConfig

(

)

const

JointType fcl::Joint::getJointType

(

)

const

virtual Transform3f fcl::Joint::getLocalTransform ( ) const

pure virtual

Implemented in fcl::BallEulerJoint, fcl::RevoluteJoint, and fcl::PrismaticJoint.

const std::string& fcl::Joint::getName

(

)

const

virtual std::size_t fcl::Joint::getNumDofs ( ) const

pure virtual

Implemented in fcl::BallEulerJoint, fcl::RevoluteJoint, and fcl::PrismaticJoint.

boost::shared_ptr<Link> fcl::Joint::getParentLink

(

)

const

const Transform3f& fcl::Joint::getTransformToParent

(

)

const

void fcl::Joint::setChildLink

(

const boost::shared_ptr< Link > &

link

)

void fcl::Joint::setJointConfig

(

const boost::shared_ptr< JointConfig > &

joint_cfg

)

void fcl::Joint::setName

(

const std::string &

name

)

void fcl::Joint::setParentLink

(

const boost::shared_ptr< Link > &

link

)

void fcl::Joint::setTransformToParent

(

const Transform3f &

t

)

Member Data Documentation

boost::shared_ptr<JointConfig> fcl::Joint::joint_cfg_

protected

boost::weak_ptr<Link> fcl::Joint::link_child_

protected

boost::weak_ptr<Link> fcl::Joint::link_parent_

protected

links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency

std::string fcl::Joint::name_

protected

Transform3f fcl::Joint::transform_to_parent_

protected

JointType fcl::Joint::type_

protected