hpp::model::JointRotation Class Reference

Rotation Joint. More...

#include <hpp/model/joint.hh>

Inheritance diagram for hpp::model::JointRotation:

Collaboration diagram for hpp::model::JointRotation:

List of all members.

Public Member Functions
	JointRotation (const Transform3f &initialPosition, size_type configSize, size_type numberDof)
	Constructor.
	JointRotation (const JointRotation &joint)
virtual JointPtr_t	clone () const =0
	Return pointer to copy of this Clone body and therefore inner and outer objects (see Body::clone).
virtual void	computePosition (ConfigurationIn_t configuration, const Transform3f &parentPosition, Transform3f &position) const =0
	Compute position of joint.
virtual	~JointRotation ()
virtual value_type	upperBoundLinearVelocity () const
	Get upper bound on linear velocity of the joint frame.
virtual value_type	upperBoundAngularVelocity () const
	Get upper bound on angular velocity of the joint frame.
Protected Member Functions
virtual void	computeMaximalDistanceToParent ()
Protected Attributes
fcl::Matrix3f	R_
fcl::Vec3f	axis_
fcl::Vec3f	O2O1_
fcl::Vec3f	cross_
fcl::Vec3f	com_

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Detailed Description

Rotation Joint.

Map an angle as one-dimensional input vector to a rotation around a fixed axis in parent frame.

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Constructor & Destructor Documentation

hpp::model::JointRotation::JointRotation	(	const Transform3f &	initialPosition,
		size_type	configSize,
		size_type	numberDof
	)

Constructor.

Parameters:

initialPosition	position of the joint in global frame before being linked to a parent,
configSize	dimension of the configuration vector,
numberDof	dimension of the velocity vector.

hpp::model::JointRotation::JointRotation

(

const JointRotation &

joint

)

virtual hpp::model::JointRotation::~JointRotation

(

)

[virtual]

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Member Function Documentation

virtual JointPtr_t hpp::model::JointRotation::clone

(

)

const [pure virtual]

Return pointer to copy of this Clone body and therefore inner and outer objects (see Body::clone).

Implements hpp::model::Joint.

Implemented in hpp::model::jointRotation::Bounded, and hpp::model::jointRotation::UnBounded.

virtual void hpp::model::JointRotation::computeMaximalDistanceToParent

(

)

[protected, virtual]

Implements hpp::model::Joint.

virtual void hpp::model::JointRotation::computePosition	(	ConfigurationIn_t	configuration,
		const Transform3f &	parentPosition,
		Transform3f &	position
	)		const [pure virtual]

Compute position of joint.

Parameters:

configuration	the configuration of the robot,
parentPosition	position of parent joint,

Return values:

position

position of this joint.

Implements hpp::model::Joint.

Implemented in hpp::model::jointRotation::Bounded, and hpp::model::jointRotation::UnBounded.

virtual value_type hpp::model::JointRotation::upperBoundAngularVelocity

(

)

const [inline, virtual]

Get upper bound on angular velocity of the joint frame.

Returns:

1

Implements hpp::model::Joint.

virtual value_type hpp::model::JointRotation::upperBoundLinearVelocity

(

)

const [inline, virtual]

Get upper bound on linear velocity of the joint frame.

Returns:

0

Implements hpp::model::Joint.

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Member Data Documentation

fcl::Vec3f hpp::model::JointRotation::axis_ [mutable, protected]

fcl::Vec3f hpp::model::JointRotation::com_ [mutable, protected]

fcl::Vec3f hpp::model::JointRotation::cross_ [mutable, protected]

fcl::Vec3f hpp::model::JointRotation::O2O1_ [mutable, protected]

fcl::Matrix3f hpp::model::JointRotation::R_ [mutable, protected]