spatial_dyn::Joint Class Reference

#include <joint.h>

Public Types
enum class	Type {   kUndefined , kRx , kRy , kRz ,   kPx , kPy , kPz }

Public Member Functions
	Joint ()
	Joint (Type type)
	Joint (const std::string &type)
Type	type () const
void	set_type (Type type)
bool	is_prismatic () const
bool	is_revolute () const
const SpatialMotiond &	subspace () const
double	q_min () const
void	set_q_min (double q_min)
double	q_max () const
void	set_q_max (double q_max)
void	set_q_limits (double q_min, double q_max)
double	dq_max () const
void	set_dq_max (double dq_max)
double	fq_max () const
void	set_fq_max (double fq_max)
double	f_coulomb () const
void	set_f_coulomb (double f_coulomb)
double	f_viscous () const
void	set_f_viscous (double f_viscous)
double	f_stiction () const
void	set_f_stiction (double f_stiction)
Eigen::Isometry3d	T_joint (double q) const

Detailed Description

Joint struct for spatial_dyn.

See also

Python: spatialdyn.Joint

Member Enumeration Documentation

Type

enum spatial_dyn::Joint::Type

strong

Joint types.

Enumerator
kUndefined	Undefined.
kRx	Revolute about X.
kRy	Revolute about Y.
kRz	Revolute about Z.
kPx	Prismatic along X.
kPy	Prismatic along Y.
kPz	Prismatic along Z.

Constructor & Destructor Documentation

Joint() [1/3]

spatial_dyn::Joint::Joint ( )

inline

Default constructor. Sets joint type to Type::UNDEFINED.

Joint() [2/3]

spatial_dyn::Joint::Joint

(

Joint::Type

type

)

Constructor that sets the joint type.

Parameters

type	Joint type.

Joint() [3/3]

spatial_dyn::Joint::Joint

(

const std::string &

type

)

Constructor that sets the joint type from a string.

Valid values: "undefined", "rx", "ry", "rz", "px", "py", "pz".

Parameters

type	Joint type string.

See also

Python: spatialdyn.Joint.__init__()

Member Function Documentation

dq_max()

double spatial_dyn::Joint::dq_max ( ) const

inline

Returns

Maximum joint velocity. Defaults to infinity.

See also

Python: spatialdyn.Joint.dq_max

f_coulomb()

double spatial_dyn::Joint::f_coulomb ( ) const

inline

Returns

Coulomb friction coefficient used as f_coulomb * signum(dq). Defaults to 0.

See also

Python: spatialdyn.Joint.f_coulomb

f_stiction()

double spatial_dyn::Joint::f_stiction ( ) const

inline

Returns

Stiction coefficient. Defaults to 0.

See also

Python: spatialdyn.Joint.f_stiction

f_viscous()

double spatial_dyn::Joint::f_viscous ( ) const

inline

Returns

Viscous friction coefficient used as f_viscous * dq. Defaults to 0.

See also

Python: spatialdyn.Joint.f_viscous

fq_max()

double spatial_dyn::Joint::fq_max ( ) const

inline

Returns

Maximum joint torque. Defaults to infinity.

See also

Python: spatialdyn.Joint.fq_max

is_prismatic()

bool spatial_dyn::Joint::is_prismatic

(

)

const

Returns

Boolean indicating whether the joint is prismatic.

See also

Python: spatialdyn.Joint.is_prismatic

is_revolute()

bool spatial_dyn::Joint::is_revolute

(

)

const

Returns

Boolean indicating whether the joint is revolute.

See also

Python: spatialdyn.Joint.is_revolute

q_max()

double spatial_dyn::Joint::q_max ( ) const

inline

Returns

Upper joint limit. Defaults to infinity.

See also

Python: spatialdyn.Joint.q_max

q_min()

double spatial_dyn::Joint::q_min ( ) const

inline

Returns

Lower joint limit. Defaults to negative infinity.

See also

Python: spatialdyn.Joint.q_min

set_dq_max()

void spatial_dyn::Joint::set_dq_max

(

double

dq_max

)

Set the maximum joint velocity. Throws an error if dq_max < 0.

Parameters

dq_max

Maximum joint velocity

set_f_coulomb()

void spatial_dyn::Joint::set_f_coulomb

(

double

f_coulomb

)

Set the Coulomb friction coefficient. Throws an error if f_coulomb < 0.

Parameters

f_coulomb

Coulomb friction coefficient.

set_f_stiction()

void spatial_dyn::Joint::set_f_stiction

(

double

f_stiction

)

Set the stiction coefficient. Throws an error if f_stiction < 0.

Parameters

f_stiction

Stiction coefficient.

set_f_viscous()

void spatial_dyn::Joint::set_f_viscous

(

double

f_viscous

)

Set the viscous friction coefficient. Throws an error if f_viscous < 0.

Parameters

f_viscous

Viscous friction coefficient.

set_fq_max()

void spatial_dyn::Joint::set_fq_max

(

double

fq_max

)

Set the maximum joint torque. Throws an error if fq_max < 0.

Parameters

fq_max

Maximum joint torque.

set_q_limits()

void spatial_dyn::Joint::set_q_limits	(	double	q_min,
		double	q_max
	)

Set the lower and upper joint limits. Throws an error if q_min > q_max.

Parameters

q_min	Lower joint limit.
q_max	Upper joint limit.

set_q_max()

void spatial_dyn::Joint::set_q_max

(

double

q_max

)

Set the upper joint limit. Throws an error if q_max > q_min.

Parameters

q_max

Upper joint limit.

set_q_min()

void spatial_dyn::Joint::set_q_min

(

double

q_min

)

Set the lower joint limit. Throws an error if q_min > q_max.

Parameters

q_min

Lower joint limit.

set_type()

void spatial_dyn::Joint::set_type

(

Joint::Type

type

)

Set the joint type.

Parameters

type	Joint type.

subspace()

const SpatialMotiond& spatial_dyn::Joint::subspace ( ) const

inline

Returns

Motion subspace spatial vector, determined by the joint type.

See also

Python: spatialdyn.Joint.subspace

T_joint()

Eigen::Isometry3d spatial_dyn::Joint::T_joint

(

double

q

)

const

Compute the transform from the joint frame to its parent rigid body's frame.

Parameters

q	Joint position.

Returns

Transform given q.

See also

Python: spatialdyn.Joint.T_joint()

type()

Type spatial_dyn::Joint::type ( ) const

inline

Returns

Joint type.

See also

Python: spatialdyn.Joint.type

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The documentation for this class was generated from the following files:

• /home/runner/work/spatial-dyn/spatial-dyn/include/spatial_dyn/structs/joint.h
• /home/runner/work/spatial-dyn/spatial-dyn/src/structs/joint.cc