Drake
All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Modules Pages
FixedAxisOneDoFJoint< Derived > Class Template Reference

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

Inheritance diagram for FixedAxisOneDoFJoint< Derived >:
Collaboration diagram for FixedAxisOneDoFJoint< Derived >:

Public Member Functions

virtual ~FixedAxisOneDoFJoint ()
 
template<typename DerivedQ , typename DerivedMS >
void motionSubspace (const Eigen::MatrixBase< DerivedQ > &q, Eigen::MatrixBase< DerivedMS > &motion_subspace, typename drake::math::Gradient< DerivedMS, Eigen::Dynamic >::type *dmotion_subspace=nullptr) const
 
template<typename DerivedQ , typename DerivedV >
void motionSubspaceDotTimesV (const Eigen::MatrixBase< DerivedQ > &q, const Eigen::MatrixBase< DerivedV > &v, Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 > &motion_subspace_dot_times_v, typename drake::math::Gradient< Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 >, Eigen::Dynamic >::type *dmotion_subspace_dot_times_vdq=nullptr, typename drake::math::Gradient< Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 >, Eigen::Dynamic >::type *dmotion_subspace_dot_times_vdv=nullptr) const
 
template<typename DerivedQ >
void qdot2v (const Eigen::MatrixBase< DerivedQ > &q, Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_VELOCITIES, DrakeJoint::MAX_NUM_POSITIONS > &qdot_to_v, Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic > *dqdot_to_v) const
 
template<typename DerivedQ >
void v2qdot (const Eigen::MatrixBase< DerivedQ > &q, Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_POSITIONS, DrakeJoint::MAX_NUM_VELOCITIES > &v_to_qdot, Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic > *dv_to_qdot) const
 
template<typename DerivedV >
Eigen::Matrix< typename DerivedV::Scalar, Eigen::Dynamic, 1 > frictionTorque (const Eigen::MatrixBase< DerivedV > &v) const
 
void setJointLimits (double joint_limit_min, double joint_limit_max)
 
Eigen::VectorXd zeroConfiguration () const
 
Eigen::VectorXd randomConfiguration (std::default_random_engine &generator) const
 
void setDynamics (double damping, double coulomb_friction, double coulomb_window)
 
virtual std::string getPositionName (int index) const
 
- Public Member Functions inherited from DrakeJointImpl< Derived >
 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 getVelocityName (int index) const
 
virtual bool isFloating () const
 
virtual const Eigen::VectorXd & getJointLimitMin () const
 
virtual const Eigen::VectorXd & getJointLimitMax () const
 

Protected Member Functions

 FixedAxisOneDoFJoint (Derived &derived, const std::string &name, const Eigen::Isometry3d &transform_to_parent_body, const drake::TwistVector< double > &_joint_axis)
 

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

FixedAxisOneDoFJoint ( Derived &  derived,
const std::string &  name,
const Eigen::Isometry3d &  transform_to_parent_body,
const drake::TwistVector< double > &  _joint_axis 
)
inlineprotected
virtual ~FixedAxisOneDoFJoint ( )
inlinevirtual

Member Function Documentation

Eigen::Matrix<typename DerivedV::Scalar, Eigen::Dynamic, 1> frictionTorque ( const Eigen::MatrixBase< DerivedV > &  v) const
inline
virtual std::string getPositionName ( int  index) const
inlinevirtual

Implements DrakeJoint.

void motionSubspace ( const Eigen::MatrixBase< DerivedQ > &  q,
Eigen::MatrixBase< DerivedMS > &  motion_subspace,
typename drake::math::Gradient< DerivedMS, Eigen::Dynamic >::type *  dmotion_subspace = nullptr 
) const
inline
void motionSubspaceDotTimesV ( const Eigen::MatrixBase< DerivedQ > &  q,
const Eigen::MatrixBase< DerivedV > &  v,
Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 > &  motion_subspace_dot_times_v,
typename drake::math::Gradient< Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 >, Eigen::Dynamic >::type *  dmotion_subspace_dot_times_vdq = nullptr,
typename drake::math::Gradient< Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 >, Eigen::Dynamic >::type *  dmotion_subspace_dot_times_vdv = nullptr 
) const
inline
void qdot2v ( const Eigen::MatrixBase< DerivedQ > &  q,
Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_VELOCITIES, DrakeJoint::MAX_NUM_POSITIONS > &  qdot_to_v,
Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic > *  dqdot_to_v 
) const
inline
Eigen::VectorXd randomConfiguration ( std::default_random_engine &  generator) const
inlinevirtual

Implements DrakeJoint.

void setDynamics ( double  damping,
double  coulomb_friction,
double  coulomb_window 
)
inline

Here is the caller graph for this function:

void setJointLimits ( double  joint_limit_min,
double  joint_limit_max 
)
inline

Here is the caller graph for this function:

void v2qdot ( const Eigen::MatrixBase< DerivedQ > &  q,
Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_POSITIONS, DrakeJoint::MAX_NUM_VELOCITIES > &  v_to_qdot,
Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic > *  dv_to_qdot 
) const
inline
Eigen::VectorXd zeroConfiguration ( ) const
inlinevirtual

Implements DrakeJoint.


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