DrakeJoint Class Reference

#include <drake/systems/plants/joints/DrakeJoint.h>

Inheritance diagram for DrakeJoint:

Collaboration diagram for DrakeJoint:

Public Types
enum	FloatingBaseType { FIXED = 0, ROLLPITCHYAW = 1, QUATERNION = 2 }
typedef Eigen::AutoDiffScalar< Eigen::Matrix< double, Eigen::Dynamic, 1, 0, 73, 1 > >	AutoDiffFixedMaxSize

Public Member Functions
	DrakeJoint (const std::string &name, const Eigen::Isometry3d &transform_to_parent_body, int num_positions, int num_velocities)
virtual	~DrakeJoint ()
const Eigen::Isometry3d &	getTransformToParentBody () const
int	getNumPositions () const
int	getNumVelocities () const
const std::string &	getName () const
virtual std::string	getPositionName (int index) const =0
virtual std::string	getVelocityName (int index) const
virtual bool	isFloating () const
virtual Eigen::VectorXd	zeroConfiguration () const =0
virtual Eigen::VectorXd	randomConfiguration (std::default_random_engine &generator) const =0
virtual const Eigen::VectorXd &	getJointLimitMin () const
virtual const Eigen::VectorXd &	getJointLimitMax () const

Public Attributes
POSITION_AND_VELOCITY_DEPENDENT_METHODS(Eigen::AutoDiffScalar< Eigen::VectorXd >) EIGEN_MAKE_ALIGNED_OPERATOR_NEW protected Eigen::VectorXd	joint_limit_min
Eigen::VectorXd	joint_limit_max

Static Public Attributes
static const int	MAX_NUM_POSITIONS = 7
static const int	MAX_NUM_VELOCITIES = 6

Member Typedef Documentation

typedef Eigen::AutoDiffScalar< Eigen::Matrix<double, Eigen::Dynamic, 1, 0, 73, 1> > AutoDiffFixedMaxSize

Member Enumeration Documentation

enum FloatingBaseType

Enumerator
FIXED
ROLLPITCHYAW
QUATERNION

Constructor & Destructor Documentation

DrakeJoint	(	const std::string &	name,
		const Eigen::Isometry3d &	transform_to_parent_body,
		int	num_positions,
		int	num_velocities
	)

~DrakeJoint ( )

virtual

Member Function Documentation

const Eigen::VectorXd & getJointLimitMax ( ) const

virtual

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const Eigen::VectorXd & getJointLimitMin ( ) const

virtual

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const std::string & getName

(

)

const

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int getNumPositions

(

)

const

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int getNumVelocities

(

)

const

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virtual std::string getPositionName ( int  index ) const

pure virtual

Implemented in RollPitchYawFloatingJoint, FixedAxisOneDoFJoint< Derived >, FixedAxisOneDoFJoint< PrismaticJoint >, FixedAxisOneDoFJoint< HelicalJoint >, FixedAxisOneDoFJoint< RevoluteJoint >, QuaternionFloatingJoint, and FixedJoint.

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const Isometry3d & getTransformToParentBody

(

)

const

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virtual std::string getVelocityName ( int  index ) const

inlinevirtual

Reimplemented in QuaternionFloatingJoint.

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virtual bool isFloating ( ) const

inlinevirtual

Reimplemented in RollPitchYawFloatingJoint, and QuaternionFloatingJoint.

virtual Eigen::VectorXd randomConfiguration ( std::default_random_engine &  generator ) const

pure virtual

Implemented in RollPitchYawFloatingJoint, QuaternionFloatingJoint, FixedAxisOneDoFJoint< Derived >, FixedAxisOneDoFJoint< PrismaticJoint >, FixedAxisOneDoFJoint< HelicalJoint >, FixedAxisOneDoFJoint< RevoluteJoint >, and FixedJoint.

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virtual Eigen::VectorXd zeroConfiguration ( ) const

pure virtual

Implemented in RollPitchYawFloatingJoint, QuaternionFloatingJoint, FixedAxisOneDoFJoint< Derived >, FixedAxisOneDoFJoint< PrismaticJoint >, FixedAxisOneDoFJoint< HelicalJoint >, FixedAxisOneDoFJoint< RevoluteJoint >, and FixedJoint.

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Member Data Documentation

Eigen::VectorXd joint_limit_max

POSITION_AND_VELOCITY_DEPENDENT_METHODS ( Eigen::AutoDiffScalar<Eigen::VectorXd>) EIGEN_MAKE_ALIGNED_OPERATOR_NEW protected Eigen::VectorXd joint_limit_min

const int MAX_NUM_POSITIONS = 7

static

const int MAX_NUM_VELOCITIES = 6

static

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

• drake/systems/plants/joints/DrakeJoint.h
• drake/systems/plants/joints/DrakeJoint.cpp