JointPrivate Class Reference

#include </home/florent/devel/sot/src/jrl-dynamics/doc/additionalDoc/JointPrivate.hh>

---

Detailed Description

Rationale

This class implements an abstract Joint class with the following functionnalities:

• Normalization around the x-axis for the following joints:
  • Rotation
  • Slide
• A default Spatial based implementation of the Recursive Newton-Euler Algorithm (RNEA).
• An implementation of the abstractRobotDynamics interface.

An optimized derivation of the RNEA is possible by overloading the following methods:

• updateTransformation()
• updateVelocity()
• updateAcceleration()
• updateWorlCoMPosition()
• updateAccelerationCoM()
• updateMomentum()
• updateTorqueAndForce()

Each of this method is called only if appropriate flags are set inside the library. This allows partial computation of the quantities.