Joint structure. More...

#include <device.h>

Public Attributes
p3d_type_joint	type
	The joint type.
int	kinematic_type
	Kineo joint type.
int	num
	Joint rank in device kinematic chain.
char	name [JNT_MAX_SIZE_NAME]
	Joint name.
int	ui_kin_num
	joint in ::XYZ_JOINT (UI KIN)
int	kin_joint_id
	Identifier of kin_joint data structure defined through UI KINEMATICS.
int	is_used_in_device_flag
	Counts number of times the joint was used in a device.
struct rob *	rob
	Robot to which the joint belongs.
struct obj *	o
	Object connected by the joint.
p3d_matrix4	pos0_obs
	Value of the degree of freedom.
p3d_matrix4	pos0
	Point where the joint is attached in the environment in initial position.
p3d_point	p0
	Point where the joint is attached in the environment in initial position.
p3d_point	relative_p0
	Point where the joint is attached (relative to the previous joint)
int	is_defined_relative
	Flag to set the position relative to the previous joint.
p3d_matrix4	abs_pos
	Matrix of the current absolute position of the joint.
int	abs_pos_modified
	Flag to show if the absolute position has changed.
p3d_matrix4	abs_pos_before_jnt
	Matrix of the current absolute position of the joint before the apply of jnt::jnt_mat.
int	abs_pos_before_jnt_modified
	Flag to show if jnt::abs_pos_before_jnt has changed.
int	pos_obj_modified
	Flag to show if the joint position has been updated.
int	pos_updated
	Flag to show if the joint position has been updated.
p3d_matrix4	jnt_mat
	Joint matrice.
int	mat_modified
	Flag to show if the joint matrice jnt::jnt_mat has changed.
struct jnt *	prev_jnt
	Previous joint.
struct jnt **	next_jnt
	Array of the next joints.
int	n_next_jnt
	Number of next joints in jnt::next_jnt.
struct link_between_joint **	link_jnt_arr
	Array of the links between joints.
int	n_link_jnt
	Number of links between joints in jnt::link_jnt_arr.
struct link_between_joint **	link_jnt_owned_arr
	Array of the links between joints owned by this joint.
int	n_link_jnt_owned
	Number of links between joints in jnt::link_jnt_owned_arr.
double	dist
	Maximal distance between the point the joint is attached to and the points of the body.
p3d_prejac *	prejac
	pre-jacobian matrix list
void *	end_user_data
	Pointer for usre data.
int	index_dof
	index of the joint's dof in a ::configPt
int	index_user_dof
	index of the joint's dof in a user config
int	dof_equiv_nbr
	The number of degree of freedom.
int	user_dof_equiv_nbr
	The number of user degree of freedom that appear in a user configuration.
p3d_dof_data	dof_data [JNT_NB_DOF_MAX]
	The degree of freedom data.

Detailed Description

Joint structure.

Member Data Documentation

p3d_matrix4 jnt::abs_pos

Matrix of the current absolute position of the joint.

Note:: It is compute at each update of the robot by p3d_jnt_calc_mat_pos(), p3d_jnt_init_mat_pos() or p3d_jnt_calc_mat_pos_and_jac(), p3d_jnt_init_mat_pos_and_jac()

p3d_matrix4 jnt::abs_pos_before_jnt

Matrix of the current absolute position of the joint before the apply of jnt::jnt_mat.

Note:: It is compute at each update of the robot by p3d_jnt_calc_mat_pos(), p3d_jnt_init_mat_pos() or p3d_jnt_calc_mat_pos_and_jac(), p3d_jnt_init_mat_pos_and_jac()

void* jnt::end_user_data

Pointer for usre data.

Warning:: Used by the sdk.

int jnt::index_user_dof

index of the joint's dof in a user config

Note: The user config, is a config where there aren't the degree of freedom not controled by the user (p3d_dof_data::is_user == FALSE).

int jnt::is_defined_relative

Flag to set the position relative to the previous joint.

TRUE if relative_p0 given by initialization (p0 must be computed), FALSE if p0 given by initialization (relative_p0 contains trash)

Warning:: Only used by the sdk.

p3d_matrix4 jnt::jnt_mat

Joint matrice.

Note:: This matrice represent the modification due to the degree of freedom.

int jnt::kin_joint_id

Identifier of kin_joint data structure defined through UI KINEMATICS.

modif. Carl 03052001

Warning:: not used

int jnt::kinematic_type

Kineo joint type.

Note: KD_JNT_TYPE_... PRISMATIC, REVOLUTE, FREEFLYER, PLAN, PPIVOT, TRAILER_FALSE

(API add-in) KINEO DEV:18/09/2001

struct link_between_joint** jnt::link_jnt_owned_arr

Array of the links between joints owned by this joint.

Note:: Use to destroy them at the end.

p3d_point jnt::p0

Point where the joint is attached in the environment in initial position.

Warning:: DO NOT USE (instead use p3d_jnt_get_point(), p3d_jnt_get_vect_point() or jnt::pos0

p3d_matrix4 jnt::pos0

Point where the joint is attached in the environment in initial position.

Note:: Can be modify by p3d_set_dof_pos0

p3d_matrix4 jnt::pos0_obs

Value of the degree of freedom.

Warning:: Only used for compatibility.

Minimum bounds value of the degree of freedom.

Warning:: Only used for compatibility.

Maximum bounds value of the degree of freedom.

Warning:: Only used for compatibility.

Point where the joint is attached in the environment in initial position.

Note:: Used to compute the relative position of the obstacle

p3d_point jnt::relative_p0

Point where the joint is attached (relative to the previous joint)

Warning:: Only used by the sdk.

p3d_type_joint jnt::type

The joint type.

Note: This is one of the ::p3d_type_joint joint type. There are presently:

::P3D_ROTATE : Joint rotate (1 dof). See p3d_jnt_rotate.c
::P3D_TRANSLATE : Joint translate (1 dof). See p3d_jnt_translate.c
::P3D_BASE : Joint base. Only use as the first joint. It gives compatibility with previous version of Move3D. Furthermore, it could be use as placement joint. It owns 6 dof (3 translations x, y, z, 3 rotations rx, ry, rz). See p3d_jnt_base.c
::P3D_PLAN : Joint plan (3 dof). Its default use is 2 translation x, y and then a rotation rz. See p3d_jnt_plan.c
::P3D_FREEFLYER : This joint looks like the base joint but it could be place at any level in the kinematic and can be placed with any rotation. See p3d_jnt_freeflyer.c

int jnt::ui_kin_num

joint in ::XYZ_JOINT (UI KIN)

modif. Carl 16052001

int jnt::user_dof_equiv_nbr

The number of user degree of freedom that appear in a user configuration.

Note: The user config, is a config where there aren't the degree of freedom not controled by the user (p3d_dof_data::is_user == FALSE).

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

/home/slemaign/softs-local/BioMove3D-git/include/device.h

Public Attributes

Detailed Description

Member Data Documentation