This class holds a Joint and is associated with a Body (Link) It's the basic element of a kinematic chain. More...

#include <joint.hpp>

Public Member Functions
	Joint (Robot R, jnt jntPt, int id=-1, bool copy=false)
	Constructor. More...

	~Joint ()
	Destructor of the class.

std::string	getName () const
	Returns the name of the joint.

Robot *	getRobot () const

jnt *	getJointStruct () const
	Get the Joint structue.

Eigen::Affine3d	getMatrixPos () const
	Get the Matrix abs_pos of the Joint.

Eigen::Vector3d	getVectorPos () const
	Get the Vector abs_pos of the Joint.

void	getAbsVector (p3d_vector3 r)
	Get the p3d abs vect.

p3d_matrix4 *	getAbsPos ()
	Get the p3d abs pos.

void	shoot (Configuration &q, bool sample_passive=false)
	Random shoot the joint.

double	getJointDof (int ithDoF) const
	Returns the Joint Dof.

void	setJointDof (int ithDoF, double value)
	Set the Joint Dof.

bool	setFreeFlyerFromMatrix (const Eigen::Affine3d &T)
	Set ff from Eigen::Transform.

bool	isJointDofUser (int ithDoF) const
	True if Joint Dof is user.

void	getDofBounds (int ithDoF, double &vmin, double &vmax) const
	Get Min Max dof.

unsigned int	getNumberOfDof () const
	Get Number of DoF.

unsigned int	getIndexOfFirstDof () const
	Get Dof Pos in Configuration.

int	getId () const
	Get the id in the joint structure of the robot.

void	setConfigFromDofValues (Configuration &q)
	Set the config from the DoF values.

Joint *	getPreviousJoint ()
	Returns the previous joint.

std::vector< Joint * >	getAllPrevJoints ()
	Returns the array of previous joints.

unsigned	computeDimension ()
	Compute the dimension of the space swept by the joint.

double	computeSpaceVolume ()
	Compute the volume of the space swept by the joint.

Detailed Description

This class holds a Joint and is associated with a Body (Link) It's the basic element of a kinematic chain.

Constructor & Destructor Documentation

Constructor.

Parameters

The	p3d_jnt that is used

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