Robot joint. More...

#include <hpp/pinocchio/joint.hh>

Collaboration diagram for hpp::pinocchio::Joint:

Public Member Functions
DeviceConstPtr_t	robot () const
	Access robot owning the object. More...

DevicePtr_t	robot ()
	Access robot owning the object. More...

virtual std::ostream &	display (std::ostream &os) const
	Display joint. More...

LiegroupSpacePtr_t	configurationSpace () const
	Get configuration space of joint. More...

LiegroupSpacePtr_t	RnxSOnConfigurationSpace () const
	Get configuration space of joint. More...

Name
const std::string &	name () const
	Get name. More...

Position
const Transform3f &	currentTransformation () const
	Joint transformation. More...

const Transform3f &	currentTransformation (const DeviceData &data) const
	Joint transformation. More...

Size and rank
size_type	numberDof () const
	Return number of degrees of freedom. More...

size_type	configSize () const
	Return number of degrees of freedom. More...

size_type	rankInConfiguration () const
	Return rank of the joint in the configuration vector. More...

size_type	rankInVelocity () const
	Return rank of the joint in the velocity vector. More...

Kinematic chain
JointPtr_t	parentJoint () const
	Get a pointer to the parent joint (if any). More...

std::size_t	numberChildJoints () const
	Number of child joints. More...

JointPtr_t	childJoint (std::size_t rank) const
	Get child joint. More...

const Transform3f &	positionInParentFrame () const
	Get (constant) placement of joint in parent frame, i.e. model.jointPlacement[idx]. More...

Bounds
void	isBounded (size_type rank, bool bounded)
	Set whether given degree of freedom is bounded. More...

bool	isBounded (size_type rank) const
	Get whether given degree of freedom is bounded. More...

value_type	lowerBound (size_type rank) const
	Get lower bound of given degree of freedom. More...

value_type	upperBound (size_type rank) const
	Get upper bound of given degree of freedom. More...

void	lowerBound (size_type rank, value_type lowerBound)
	Set lower bound of given degree of freedom. More...

void	upperBound (size_type rank, value_type upperBound)
	Set upper bound of given degree of freedom. More...

void	lowerBounds (vectorIn_t lowerBounds)
	Set lower bounds. More...

void	upperBounds (vectorIn_t upperBounds)
	Set upper bounds. More...

value_type	upperBoundLinearVelocity () const
	Get upper bound on linear velocity of the joint frame. More...

value_type	upperBoundAngularVelocity () const
	Get upper bound on angular velocity of the joint frame. More...

const value_type &	maximalDistanceToParent () const
	Maximal distance of joint origin to parent origin. More...

Jacobian
JointJacobian_t &	jacobian (const bool localFrame=true) const
	Get non const reference to Jacobian. More...

JointJacobian_t &	jacobian (DeviceData &data, const bool localFrame=true) const
	Get reference to Jacobian. More...

Body linked to the joint
BodyPtr_t	linkedBody () const
	Get linked body. More...

Pinocchio API
const JointIndex &	index () const

const JointModel &	jointModel () const

Protected Member Functions
void	computeMaximalDistanceToParent ()
	Compute the maximal distance. More...

void	setChildList ()
	Store list of childrens. More...

Model &	model ()

const Model &	model () const

DeviceData &	data () const

void	selfAssert () const
	Assert that the members of the struct are valid (no null pointer, etc). More...

Protected Attributes
value_type	maximalDistanceToParent_

DeviceWkPtr_t	devicePtr

JointIndex	jointIndex

std::vector< JointIndex >	children

Friends
class	Device

Construction and copy and destruction
static JointPtr_t	create (DeviceWkPtr_t device, JointIndex indexInJointList)
	Create a new joint Returns a null pointer if indexInJointList is 0. More...

	Joint (DeviceWkPtr_t device, JointIndex indexInJointList)
	Constructor. More...

	~Joint ()

Detailed Description

Robot joint.

A joint maps an input vector to a transformation of SE(3) from the parent frame to the joint frame.

The input vector is provided through the configuration vector of the robot the joint belongs to. The joint input vector is composed of the components of the robot configuration starting at Joint::rankInConfiguration.

The joint input vector represents a element of a Lie group, either

a vector space for JointTranslation, and bounded JointRotation,
the unit circle for non-bounded JointRotation joints,
an element of SO(3) for JointSO3, represented by a unit quaternion.

Operations specific to joints (uniform sampling of input space, straight interpolation, distance, ...) are performed by a JointConfiguration instance that has the same class hierarchy as Joint.

Constructor & Destructor Documentation

hpp::pinocchio::Joint::Joint	(	DeviceWkPtr_t	device,
		JointIndex	indexInJointList
	)

Constructor.

Parameters

device	pointer on the device the joint is belonging to.
indexInJointList	index of the joint, i.e. joint = device.model.joints[index]

hpp::pinocchio::Joint::~Joint ( )

inline

Member Function Documentation

JointPtr_t hpp::pinocchio::Joint::childJoint ( std::size_t rank ) const

Get child joint.

void hpp::pinocchio::Joint::computeMaximalDistanceToParent ( )

protected

Compute the maximal distance.

See also: maximalDistanceToParent

size_type hpp::pinocchio::Joint::configSize ( ) const

Return number of degrees of freedom.

LiegroupSpacePtr_t hpp::pinocchio::Joint::configurationSpace ( ) const

Get configuration space of joint.

static JointPtr_t hpp::pinocchio::Joint::create	(	DeviceWkPtr_t	device,
		JointIndex	indexInJointList
	)

static

Create a new joint Returns a null pointer if indexInJointList is 0.

const Transform3f& hpp::pinocchio::Joint::currentTransformation ( ) const

inline

Joint transformation.

References currentTransformation().

Referenced by currentTransformation().

const Transform3f& hpp::pinocchio::Joint::currentTransformation ( const DeviceData & data ) const

Joint transformation.

DeviceData& hpp::pinocchio::Joint::data ( ) const

protected

virtual std::ostream& hpp::pinocchio::Joint::display ( std::ostream & os ) const

virtual

Display joint.

Referenced by hpp::pinocchio::operator<<().

const JointIndex& hpp::pinocchio::Joint::index ( ) const

inline

void hpp::pinocchio::Joint::isBounded	(	size_type	rank,
		bool	bounded
	)

Set whether given degree of freedom is bounded.

Warning: Joint always has bounds. When bounded == false, the bounds are -infinity and infinity.

bool hpp::pinocchio::Joint::isBounded ( size_type rank ) const

Get whether given degree of freedom is bounded.

JointJacobian_t& hpp::pinocchio::Joint::jacobian ( const bool localFrame = true ) const

inline

Get non const reference to Jacobian.

Parameters

localFrame if true, compute the jacobian (6d) in the local frame, whose linear part corresponds to the velocity of the center of the frame. If false, the jacobian is expressed in the global frame and its linear part corresponds to the value of the velocity vector field at the center of the world.

References jacobian().

Referenced by jacobian().

JointJacobian_t& hpp::pinocchio::Joint::jacobian	(	DeviceData &	data,
		const bool	localFrame = `true`
	)		const

Get reference to Jacobian.

Parameters

localFrame if true, compute the jacobian (6d) in the local frame, whose linear part corresponds to the velocity of the center of the frame. If false, the jacobian is expressed in the global frame and its linear part corresponds to the value of the velocity vector field at the center of the world.

const JointModel& hpp::pinocchio::Joint::jointModel ( ) const

BodyPtr_t hpp::pinocchio::Joint::linkedBody ( ) const

Get linked body.

value_type hpp::pinocchio::Joint::lowerBound ( size_type rank ) const

Get lower bound of given degree of freedom.

void hpp::pinocchio::Joint::lowerBound	(	size_type	rank,
		value_type	lowerBound
	)

Set lower bound of given degree of freedom.

void hpp::pinocchio::Joint::lowerBounds ( vectorIn_t lowerBounds )

Set lower bounds.

const value_type& hpp::pinocchio::Joint::maximalDistanceToParent ( ) const

inline

Maximal distance of joint origin to parent origin.

Model& hpp::pinocchio::Joint::model ( )

protected

const Model& hpp::pinocchio::Joint::model ( ) const

protected

const std::string& hpp::pinocchio::Joint::name ( ) const

Get name.

std::size_t hpp::pinocchio::Joint::numberChildJoints ( ) const

Number of child joints.

size_type hpp::pinocchio::Joint::numberDof ( ) const

Return number of degrees of freedom.

JointPtr_t hpp::pinocchio::Joint::parentJoint ( ) const

Get a pointer to the parent joint (if any).

const Transform3f& hpp::pinocchio::Joint::positionInParentFrame ( ) const

Get (constant) placement of joint in parent frame, i.e. model.jointPlacement[idx].

size_type hpp::pinocchio::Joint::rankInConfiguration ( ) const

Return rank of the joint in the configuration vector.

size_type hpp::pinocchio::Joint::rankInVelocity ( ) const

Return rank of the joint in the velocity vector.

LiegroupSpacePtr_t hpp::pinocchio::Joint::RnxSOnConfigurationSpace ( ) const

Get configuration space of joint.

Use R^n x SO(n) instead of SE(n).

DeviceConstPtr_t hpp::pinocchio::Joint::robot ( ) const

inline

Access robot owning the object.

DevicePtr_t hpp::pinocchio::Joint::robot ( )

inline

Access robot owning the object.

References hpp::pinocchio::display().

void hpp::pinocchio::Joint::selfAssert ( ) const

protected

Assert that the members of the struct are valid (no null pointer, etc).

void hpp::pinocchio::Joint::setChildList ( )

protected

Store list of childrens.

value_type hpp::pinocchio::Joint::upperBound ( size_type rank ) const

Get upper bound of given degree of freedom.

void hpp::pinocchio::Joint::upperBound	(	size_type	rank,
		value_type	upperBound
	)

Set upper bound of given degree of freedom.

value_type hpp::pinocchio::Joint::upperBoundAngularVelocity ( ) const

Get upper bound on angular velocity of the joint frame.

Returns

coefficient $\lambda$ such that

$\begin{equation*} \forall \mathbf{q}_{joint}\ \ \ \ \ \ \|\omega\| \leq \lambda \|\mathbf{\dot{q}}_{joint}\| \end{equation*}$

where

$\mathbf{q}_{joint}$ is any joint configuration,
$\mathbf{\dot{q}}_{joint}$ is the joint velocity, and
$\omega = J(\mathbf{q})*\mathbf{\dot{q}}$ is the angular velocity of the joint frame.

value_type hpp::pinocchio::Joint::upperBoundLinearVelocity ( ) const

Get upper bound on linear velocity of the joint frame.

Returns

coefficient $\lambda$ such that

$\begin{equation*} \forall \mathbf{q}_{joint}\ \ \ \ \ \ \|\mathbf {v}\| \leq \lambda \|\mathbf{\dot{q}}_{joint}\| \end{equation*}$

where

$\mathbf{q}_{joint}$ is any joint configuration,
$\mathbf{\dot{q}}_{joint}$ is the joint velocity, and
$\mathbf{v} = J(\mathbf{q})*\mathbf{\dot{q}}$ is the linear velocity of the joint frame.

void hpp::pinocchio::Joint::upperBounds ( vectorIn_t upperBounds )

Set upper bounds.

Friends And Related Function Documentation

friend class Device

friend

Member Data Documentation

std::vector<JointIndex> hpp::pinocchio::Joint::children

protected

DeviceWkPtr_t hpp::pinocchio::Joint::devicePtr

protected

JointIndex hpp::pinocchio::Joint::jointIndex

protected

value_type hpp::pinocchio::Joint::maximalDistanceToParent_

protected

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Construction and copy and destruction

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation