Inheritance diagram for DrakeJointImpl< Derived >:

Collaboration diagram for DrakeJointImpl< Derived >:

Public Member Functions
	DrakeJointImpl (Derived &_derived, const std::string &name, const Eigen::Isometry3d &transform_to_parent_body, int num_positions, int num_velocities)

virtual	~DrakeJointImpl ()

Public Member Functions inherited from DrakeJoint
	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

Additional Inherited Members
Public Types inherited from DrakeJoint
enum	FloatingBaseType { FIXED = 0, ROLLPITCHYAW = 1, QUATERNION = 2 }

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

Public Attributes inherited from DrakeJoint
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 inherited from DrakeJoint
static const int	MAX_NUM_POSITIONS = 7

static const int	MAX_NUM_VELOCITIES = 6

Constructor & Destructor Documentation

inline

virtual ~DrakeJointImpl ( )

inlinevirtual

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

Public Member Functions