dynamicsJRLJapan::Joint Class Reference
[User Classes]

This class represents a robot joint. More...

#include <jrl/dynamics/joint.hh>

Inheritance diagram for dynamicsJRLJapan::Joint:

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Collaboration diagram for dynamicsJRLJapan::Joint:

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List of all members.

Public Member Functions
Joint name

virtual const std::string &	getName () const
	Get joint name.
virtual void	setName (const std::string &name)
	Set joint name.
Joint hierarchy

virtual CjrlJoint *	parentJoint () const
	Get a pointer to the parent joint (if any).
virtual bool	addChildJoint (CjrlJoint &inJoint)
	Add a child joint.
virtual unsigned int	countChildJoints () const
	Get the number of children.
virtual CjrlJoint *	childJoint (unsigned int inJointRank) const
	Returns the child joint at the given rank.
virtual std::vector< CjrlJoint * >	jointsFromRootToThis () const
	Get a vector containing references of the joints between the rootJoint and this joint.
virtual unsigned int	rankInConfiguration () const
	Get the rank of this joint in the robot configuration vector.
Joint kinematics

virtual const matrix4d &	initialPosition () const
	Get the initial position of the joint.
virtual bool	updateTransformation (const vectorN &inDofVector)
	Update this joint's transformation according to degree of freedom value from argument robot configuration.
virtual const matrix4d &	currentTransformation () const
	Get the current transformation of the joint.
virtual CjrlRigidVelocity	jointVelocity () const
	Get the velocity $({\bf v}, {\bf \omega})$ of the joint.
virtual CjrlRigidAcceleration	jointAcceleration () const
	Get the acceleration of the joint.
virtual unsigned int	numberDof () const
	Get the number of degrees of freedom of the joint.
Bounds of the degrees of freedom

virtual double	lowerBound (unsigned int inDofRank) const
	Get the lower bound of a given degree of freedom of the joint.
virtual double	upperBound (unsigned int inDofRank) const
	Get the upper bound of a given degree of freedom of the joint.
virtual void	lowerBound (unsigned int inDofRank, double inLowerBound)
	Set the lower bound of a given degree of freedom of the joint.
virtual void	upperBound (unsigned int inDofRank, double inUpperBound)
	Set the upper bound of a given degree of freedom of the joint.
virtual double	lowerVelocityBound (unsigned int inDofRank) const
	Get the lower velocity bound of a given degree of freedom of the joint.
virtual double	upperVelocityBound (unsigned int inDofRank) const
	Get the upper veocity bound of a given degree of freedom of the joint.
virtual void	lowerVelocityBound (unsigned int inDofRank, double inLowerBound)
	Set the lower velocity bound of a given degree of freedom of the joint.
virtual void	upperVelocityBound (unsigned int inDofRank, double inUpperBound)
	Set the upper velocity bound of a given degree of freedom of the joint.
Jacobian functions wrt configuration.

virtual const matrixNxP &	jacobianJointWrtConfig () const
	Get the Jacobian matrix of the joint position and orientation wrt the robot configuration.
virtual void	computeJacobianJointWrtConfig ()
	Compute the joint's jacobian wrt the robot configuration.
virtual void	getJacobianPointWrtConfig (const vector3d &inPointJointFrame, matrixNxP &outjacobian) const
	Get the jacobian of the point specified in local frame by inPointJointFrame.
Body linked to the joint

virtual CjrlBody *	linkedBody () const
	Get a pointer to the linked body (if any).
virtual void	setLinkedBody (CjrlBody &inBody)
	Link a body to the joint.
Public Attributes
boost::shared_ptr< CjrlJoint >	m_privateObj
Constructor and destructor

virtual	~Joint ()
	Joint (const Joint &inJoint)
	Joint ()

Detailed Description

This class represents a robot joint.

Implements abstract interface CjrlJoint.

Constructor & Destructor Documentation

virtual dynamicsJRLJapan::Joint::~Joint ( ) [inline, virtual]

dynamicsJRLJapan::Joint::Joint ( const Joint & inJoint )

dynamicsJRLJapan::Joint::Joint ( ) [protected]

Member Function Documentation

virtual bool dynamicsJRLJapan::Joint::addChildJoint ( CjrlJoint & inJoint ) [virtual]

Add a child joint.

Implements CjrlJoint.

virtual CjrlJoint* dynamicsJRLJapan::Joint::childJoint ( unsigned int inJointRank ) const [virtual]

Returns the child joint at the given rank.

Implements CjrlJoint.

virtual void dynamicsJRLJapan::Joint::computeJacobianJointWrtConfig ( ) [virtual]

Compute the joint's jacobian wrt the robot configuration.

Implements CjrlJoint.

virtual unsigned int dynamicsJRLJapan::Joint::countChildJoints ( ) const [virtual]

Get the number of children.

Implements CjrlJoint.

virtual const matrix4d& dynamicsJRLJapan::Joint::currentTransformation ( ) const [virtual]

Get the current transformation of the joint.

The current transformation of the joint is the transformation moving the joint from the position in initial configuration to the current position.

The current transformation is determined by the configuration ${\bf q}$ of the robot.

Implements CjrlJoint.

virtual void dynamicsJRLJapan::Joint::getJacobianPointWrtConfig	(	const vector3d &	inPointJointFrame,
		matrixNxP &	outjacobian
	)			const `[virtual]`

Get the jacobian of the point specified in local frame by inPointJointFrame.

The output matrix outjacobian is automatically resized if necessary

Implements CjrlJoint.

virtual const std::string& dynamicsJRLJapan::Joint::getName ( ) const [virtual]

Get joint name.

Implements CjrlJoint.

virtual const matrix4d& dynamicsJRLJapan::Joint::initialPosition ( ) const [virtual]

Get the initial position of the joint.

The initial position of the joint is the position of the local frame of the joint.

Implements CjrlJoint.

virtual const matrixNxP& dynamicsJRLJapan::Joint::jacobianJointWrtConfig ( ) const [virtual]

Get the Jacobian matrix of the joint position and orientation wrt the robot configuration.

Kinematical constraints from interaction with the environment are not taken into account for this computation.

The corresponding computation can be done by the robot for each of its joints or by the joint.

Returns:

a matrix $J \in {\bf R}^{6\times n_{dof}}$ defined by

$J = \left(\begin{array}{llll} {\bf v_1} & {\bf v_2} & \cdots & {\bf v_{n_{dof}}} \\ {\bf \omega_1} & {\bf \omega_2} & \cdots & {\bf \omega_{n_{dof}}} \end{array}\right)$

where ${\bf v_i}$ and ${\bf \omega_i}$ are respectively the linear and angular velocities of the joint implied by the variation of degree of freedom $q_i$

. The velocity of the joint returned by CjrlJoint::jointVelocity can thus be obtained through the following formula:

$\left(\begin{array}{l} {\bf v} \\ {\bf \omega}\end{array}\right) = J {\bf \dot{q}}$

Implements CjrlJoint.

virtual CjrlRigidAcceleration dynamicsJRLJapan::Joint::jointAcceleration ( ) const [virtual]

Get the acceleration of the joint.

The acceleratoin is determined by the configuration of the robot and its first and second time derivative: $({\bf q},{\bf \dot{q}}, {\bf \ddot{q}})$ .

Implements CjrlJoint.

virtual std::vector<CjrlJoint*> dynamicsJRLJapan::Joint::jointsFromRootToThis ( ) const [virtual]

Get a vector containing references of the joints between the rootJoint and this joint.

The root Joint and this Joint are included in the vector.

Implements CjrlJoint.

virtual CjrlRigidVelocity dynamicsJRLJapan::Joint::jointVelocity ( ) const [virtual]

Get the velocity $({\bf v}, {\bf \omega})$ of the joint.

The velocity is determined by the configuration of the robot and its time derivative: $({\bf q},{\bf \dot{q}})$ .

Returns:: the linear velocity ${\bf v}$ of the origin of the joint frame and the angular velocity ${\bf \omega}$ of the joint frame.

Implements CjrlJoint.

virtual CjrlBody* dynamicsJRLJapan::Joint::linkedBody ( ) const [virtual]

Get a pointer to the linked body (if any).

Implements CjrlJoint.

virtual void dynamicsJRLJapan::Joint::lowerBound	(	unsigned int	inDofRank,
		double	inLowerBound
	)			`[virtual]`

Set the lower bound of a given degree of freedom of the joint.

Parameters:

	inDofRank	Id of the dof in the joint
	inLowerBound	lower bound

Implements CjrlJoint.

virtual double dynamicsJRLJapan::Joint::lowerBound ( unsigned int inDofRank ) const [virtual]

Get the lower bound of a given degree of freedom of the joint.

Parameters:

inDofRank

Id of the dof in the joint

Implements CjrlJoint.

virtual void dynamicsJRLJapan::Joint::lowerVelocityBound	(	unsigned int	inDofRank,
		double	inLowerBound
	)			`[virtual]`

Set the lower velocity bound of a given degree of freedom of the joint.

Parameters:

	inDofRank	Id of the dof in the joint
	inLowerBound	lower bound

Implements CjrlJoint.

virtual double dynamicsJRLJapan::Joint::lowerVelocityBound ( unsigned int inDofRank ) const [virtual]

Get the lower velocity bound of a given degree of freedom of the joint.

Parameters:

inDofRank

Id of the dof in the joint

Implements CjrlJoint.

virtual unsigned int dynamicsJRLJapan::Joint::numberDof ( ) const [virtual]

Get the number of degrees of freedom of the joint.

Implements CjrlJoint.

virtual CjrlJoint* dynamicsJRLJapan::Joint::parentJoint ( ) const [virtual]

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

Implements CjrlJoint.

virtual unsigned int dynamicsJRLJapan::Joint::rankInConfiguration ( ) const [virtual]

Get the rank of this joint in the robot configuration vector.

If the Joint has several degrees of freedom, it is the rank of the first degree of freedom.

Implements CjrlJoint.

virtual void dynamicsJRLJapan::Joint::setLinkedBody ( CjrlBody & inBody ) [virtual]

Link a body to the joint.

Implements CjrlJoint.

virtual void dynamicsJRLJapan::Joint::setName ( const std::string & name ) [virtual]

Set joint name.

Implements CjrlJoint.

virtual bool dynamicsJRLJapan::Joint::updateTransformation ( const vectorN & inDofVector ) [virtual]

Update this joint's transformation according to degree of freedom value from argument robot configuration.

This does not update the transformations of child joints.

Parameters:

inDofVector

is a robot configuration vector.

Returns:: false if argument vector's size is not equal to the robot's number of degrees of freedom

Implements CjrlJoint.

virtual void dynamicsJRLJapan::Joint::upperBound	(	unsigned int	inDofRank,
		double	inUpperBound
	)			`[virtual]`

Set the upper bound of a given degree of freedom of the joint.

Parameters:

	inDofRank	Id of the dof in the joint
	inUpperBound	Upper bound.

Implements CjrlJoint.

virtual double dynamicsJRLJapan::Joint::upperBound ( unsigned int inDofRank ) const [virtual]

Get the upper bound of a given degree of freedom of the joint.

Parameters:

inDofRank

Id of the dof in the joint

Implements CjrlJoint.

virtual void dynamicsJRLJapan::Joint::upperVelocityBound	(	unsigned int	inDofRank,
		double	inUpperBound
	)			`[virtual]`

Set the upper velocity bound of a given degree of freedom of the joint.

Parameters:

	inDofRank	Id of the dof in the joint
	inUpperBound	Upper bound.

Implements CjrlJoint.

virtual double dynamicsJRLJapan::Joint::upperVelocityBound ( unsigned int inDofRank ) const [virtual]

Get the upper veocity bound of a given degree of freedom of the joint.

Parameters:

inDofRank

Id of the dof in the joint

Implements CjrlJoint.

Member Data Documentation

boost::shared_ptr<CjrlJoint> dynamicsJRLJapan::Joint::m_privateObj

dynamicsJRLJapan::Joint Class Reference [User Classes]

Public Member Functions

Public Attributes

Constructor and destructor

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

dynamicsJRLJapan::Joint Class Reference
[User Classes]