hpp::model::JointSO3 Class Reference

Spherical Joint. More...

#include <hpp/model/joint.hh>

Inheritance diagram for hpp::model::JointSO3:

Collaboration diagram for hpp::model::JointSO3:

List of all members.

Public Member Functions
	JointSO3 (const Transform3f &initialPosition)
	JointSO3 (const JointSO3 &joint)
virtual JointPtr_t	clone () const
	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
	Compute position of joint.
virtual	~JointSO3 ()
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 ()

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Detailed Description

Spherical Joint.

map a unit quaternion as input vector to a rotation of SO(3).

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Constructor & Destructor Documentation

hpp::model::JointSO3::JointSO3

(

const Transform3f &

initialPosition

)

hpp::model::JointSO3::JointSO3

(

const JointSO3 &

joint

)

virtual hpp::model::JointSO3::~JointSO3

(

)

[virtual]

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Member Function Documentation

virtual JointPtr_t hpp::model::JointSO3::clone

(

)

const [virtual]

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

Implements hpp::model::Joint.

virtual void hpp::model::JointSO3::computeMaximalDistanceToParent

(

)

[protected, virtual]

Implements hpp::model::Joint.

virtual void hpp::model::JointSO3::computePosition	(	ConfigurationIn_t	configuration,
		const Transform3f &	parentPosition,
		Transform3f &	position
	)		const [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.

virtual value_type hpp::model::JointSO3::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::JointSO3::upperBoundLinearVelocity

(

)

const [inline, virtual]

Get upper bound on linear velocity of the joint frame.

Returns:

0

Implements hpp::model::Joint.