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

Inheritance diagram for FixedJoint:

Collaboration diagram for FixedJoint:

Public Member Functions
	FixedJoint (const std::string &name, const Eigen::Isometry3d &transform_to_parent_body)

virtual	~FixedJoint ()

template<typename DerivedQ >
Eigen::Transform< typename DerivedQ::Scalar, 3, Eigen::Isometry >	jointTransform (const Eigen::MatrixBase< DerivedQ > &q) const

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, MAX_NUM_VELOCITIES, 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, MAX_NUM_POSITIONS, 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

std::string	getPositionName (int index) const override

Eigen::VectorXd	zeroConfiguration () const override

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

Public Member Functions inherited from DrakeJointImpl< FixedJoint >
	DrakeJointImpl (FixedJoint &_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

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

FixedJoint	(	const std::string &	name,
		const Eigen::Isometry3d &	transform_to_parent_body
	)

inline

virtual ~FixedJoint ( )

inlinevirtual

Member Function Documentation

Eigen::Matrix<typename DerivedV::Scalar, Eigen::Dynamic, 1> frictionTorque ( const Eigen::MatrixBase< DerivedV > & v ) const

inline

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std::string getPositionName ( int index ) const

overridevirtual

Implements DrakeJoint.

Eigen::Transform<typename DerivedQ::Scalar, 3, Eigen::Isometry> jointTransform ( const Eigen::MatrixBase< DerivedQ > & q ) const

inline

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

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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, MAX_NUM_VELOCITIES, MAX_NUM_POSITIONS > &	qdot_to_v,
		Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic > *	dqdot_to_v
	)		const

inline

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

overridevirtual

Implements DrakeJoint.

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

inline

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Eigen::VectorXd zeroConfiguration ( ) const

overridevirtual

Implements DrakeJoint.

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

drake/systems/plants/joints/FixedJoint.h
drake/systems/plants/joints/FixedJoint.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation