95 const double& _inertia=0,
const double& _damping=0,
const double& _stiffness=0);
111 const double& _inertia=0,
const double& _damping=0,
const double& _stiffness=0);
214 virtual const char*
what()
const throw(){
215 return "Joint Type excption";}
virtual const char * what() const
Definition: joint.hpp:214
double q_previous
Definition: joint.hpp:209
Frame pose(const double &q) const
Request the 6D-pose between the beginning and the end of the joint at joint position q...
Definition: joint.cpp:76
double damping
Definition: joint.hpp:203
Vector origin
Definition: joint.hpp:207
double stiffness
Definition: joint.hpp:204
Joint(const std::string &name, const JointType &type=None, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)
Constructor of a joint.
Definition: joint.cpp:27
Vector JointOrigin() const
Request the Vector corresponding to the origin of a revolute joint.
Definition: joint.cpp:157
Vector axis
Definition: joint.hpp:207
represents both translational and rotational velocities.
Definition: frames.hpp:720
const std::string & getName() const
Request the name of the joint.
Definition: joint.hpp:150
Definition: articulatedbodyinertia.cpp:28
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
KDL::Joint::joint_type_exception joint_type_ex
std::string name
Definition: joint.hpp:198
double inertia
Definition: joint.hpp:202
virtual ~Joint()
Definition: joint.cpp:72
Frame joint_pose
Definition: joint.hpp:208
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Definition: joint.hpp:45
const std::string getTypeName() const
Request the stringified type of the joint.
Definition: joint.hpp:169
Joint::JointType type
Definition: joint.hpp:199
Vector JointAxis() const
Request the Vector corresponding to the axis of a revolute joint.
Definition: joint.cpp:131
double offset
Definition: joint.hpp:201
Definition: joint.hpp:213
double scale
Definition: joint.hpp:200
JointType
Definition: joint.hpp:47
Twist twist(const double &qdot) const
Request the resulting 6D-velocity with a joint velocity qdot.
Definition: joint.cpp:106
const JointType & getType() const
Request the type of the joint.
Definition: joint.hpp:159