#include <WeldJoint.hpp>
Inheritance diagram for dart::dynamics::WeldJoint:
Collaboration diagram for dart::dynamics::WeldJoint:
Classes | |
| struct | Properties |
Public Member Functions | |
| WeldJoint (const WeldJoint &)=delete | |
| virtual | ~WeldJoint () |
| Destructor. | |
| Properties | getWeldJointProperties () const |
| Get the Properties of this WeldJoint. | |
| const std::string & | getType () const override |
| Gets a string representing the joint type. | |
| bool | isCyclic (std::size_t _index) const override |
| Get whether a generalized coordinate is cyclic. More... | |
| void | setTransformFromParentBodyNode (const Eigen::Isometry3d &_T) override |
| Set transformation from parent body node to this joint. | |
| void | setTransformFromChildBodyNode (const Eigen::Isometry3d &_T) override |
| Set transformation from child body node to this joint. | |
 Public Member Functions inherited from dart::dynamics::ZeroDofJoint | |
| ZeroDofJoint (const ZeroDofJoint &)=delete | |
| virtual | ~ZeroDofJoint () |
| Destructor. | |
| Properties | getZeroDofJointProperties () const |
| Get the Properties of this ZeroDofJoint. | |
| DegreeOfFreedom * | getDof (std::size_t) override |
| Get an object to access the _index-th degree of freedom (generalized coordinate) of this Joint. | |
| const DegreeOfFreedom * | getDof (std::size_t) const override |
| Get an object to access the _index-th degree of freedom (generalized coordinate) of this Joint. | |
| const std::string & | setDofName (std::size_t, const std::string &, bool) override |
| Alternative to DegreeOfFreedom::setName() | |
| void | preserveDofName (std::size_t, bool) override |
| Alternative to DegreeOfFreedom::preserveName() | |
| bool | isDofNamePreserved (std::size_t) const override |
| Alternative to DegreeOfFreedom::isNamePreserved() | |
| const std::string & | getDofName (std::size_t) const override |
| Alternative to DegreeOfFreedom::getName() | |
| std::size_t | getNumDofs () const override |
| Get number of generalized coordinates. | |
| std::size_t | getIndexInSkeleton (std::size_t _index) const override |
| Get a unique index in skeleton of a generalized coordinate in this Joint. | |
| std::size_t | getIndexInTree (std::size_t _index) const override |
| Get a unique index in the kinematic tree of a generalized coordinate in this Joint. | |
| void | setCommand (std::size_t _index, double _command) override |
| Set a single command. | |
| double | getCommand (std::size_t _index) const override |
| Get a single command. | |
| void | setCommands (const Eigen::VectorXd &_commands) override |
| Set all commands for this Joint. | |
| Eigen::VectorXd | getCommands () const override |
| Get all commands for this Joint. | |
| void | resetCommands () override |
| Set all the commands for this Joint to zero. | |
| void | setPosition (std::size_t, double) override |
| Set the position of a single generalized coordinate. | |
| double | getPosition (std::size_t _index) const override |
| Get the position of a single generalized coordinate. | |
| void | setPositions (const Eigen::VectorXd &_positions) override |
| Set the positions of all generalized coordinates in this Joint. | |
| Eigen::VectorXd | getPositions () const override |
| Get the positions of all generalized coordinates in this Joint. | |
| void | setPositionLowerLimit (std::size_t _index, double _position) override |
| Set lower limit for position. | |
| double | getPositionLowerLimit (std::size_t _index) const override |
| Get lower limit for position. | |
| void | setPositionLowerLimits (const Eigen::VectorXd &lowerLimits) override |
| Set the position lower limits of all the generalized coordinates. | |
| Eigen::VectorXd | getPositionLowerLimits () const override |
| Get the position lower limits of all the generalized coordinates. | |
| void | setPositionUpperLimit (std::size_t index, double position) override |
| Set upper limit for position. | |
| double | getPositionUpperLimit (std::size_t index) const override |
| Get upper limit for position. | |
| void | setPositionUpperLimits (const Eigen::VectorXd &upperLimits) override |
| Set the position upper limits of all the generalized coordinates. | |
| Eigen::VectorXd | getPositionUpperLimits () const override |
| Get the position upper limits of all the generalized coordinates. | |
| bool | hasPositionLimit (std::size_t _index) const override |
| Get whether the position of a generalized coordinate has limits. | |
| void | resetPosition (std::size_t _index) override |
| Set the position of this generalized coordinate to its initial position. | |
| void | resetPositions () override |
| Set the positions of all generalized coordinates in this Joint to their initial positions. | |
| void | setInitialPosition (std::size_t _index, double _initial) override |
| Change the position that resetPositions() will give to this coordinate. | |
| double | getInitialPosition (std::size_t _index) const override |
| Get the position that resetPosition() will give to this coordinate. | |
| void | setInitialPositions (const Eigen::VectorXd &_initial) override |
| Change the positions that resetPositions() will give to this Joint's coordinates. | |
| Eigen::VectorXd | getInitialPositions () const override |
| Get the positions that resetPositions() will give to this Joint's coordinates. | |
| void | setVelocity (std::size_t _index, double _velocity) override |
| Set the velocity of a single generalized coordinate. | |
| double | getVelocity (std::size_t _index) const override |
| Get the velocity of a single generalized coordinate. | |
| void | setVelocities (const Eigen::VectorXd &_velocities) override |
| Set the velocities of all generalized coordinates in this Joint. | |
| Eigen::VectorXd | getVelocities () const override |
| Get the velocities of all generalized coordinates in this Joint. | |
| void | setVelocityLowerLimit (std::size_t _index, double _velocity) override |
| Set lower limit for velocity. | |
| double | getVelocityLowerLimit (std::size_t _index) const override |
| Get lower limit for velocity. | |
| void | setVelocityLowerLimits (const Eigen::VectorXd &lowerLimits) override |
| Set the velocity lower limits of all the generalized coordinates. | |
| Eigen::VectorXd | getVelocityLowerLimits () const override |
| Get the velocity lower limits of all the generalized coordinates. | |
| void | setVelocityUpperLimit (std::size_t _index, double _velocity) override |
| Set upper limit for velocity. | |
| double | getVelocityUpperLimit (std::size_t _index) const override |
| Get upper limit for velocity. | |
| void | setVelocityUpperLimits (const Eigen::VectorXd &upperLimits) override |
| Set the velocity upper limits of all the generalized coordinates. | |
| Eigen::VectorXd | getVelocityUpperLimits () const override |
| Get the velocity upper limits of all the generalized coordinates. | |
| void | resetVelocity (std::size_t _index) override |
| Set the velocity of a generalized coordinate in this Joint to its initial velocity. | |
| void | resetVelocities () override |
| Set the velocities of all generalized coordinates in this Joint to their initial velocities. | |
| void | setInitialVelocity (std::size_t _index, double _initial) override |
| Change the velocity that resetVelocity() will give to this coordinate. | |
| double | getInitialVelocity (std::size_t _index) const override |
| Get the velocity that resetVelocity() will give to this coordinate. | |
| void | setInitialVelocities (const Eigen::VectorXd &_initial) override |
| Change the velocities that resetVelocities() will give to this Joint's coordinates. | |
| Eigen::VectorXd | getInitialVelocities () const override |
| Get the velocities that resetVelocities() will give to this Joint's coordinates. | |
| void | setAcceleration (std::size_t _index, double _acceleration) override |
| Set the acceleration of a single generalized coordinate. | |
| double | getAcceleration (std::size_t _index) const override |
| Get the acceleration of a single generalized coordinate. | |
| void | setAccelerations (const Eigen::VectorXd &_accelerations) override |
| Set the accelerations of all generalized coordinates in this Joint. | |
| Eigen::VectorXd | getAccelerations () const override |
| Get the accelerations of all generalized coordinates in this Joint. | |
| void | resetAccelerations () override |
| Set the accelerations of all generalized coordinates in this Joint to zero. | |
| void | setAccelerationLowerLimit (std::size_t _index, double _acceleration) override |
| Set lower limit for acceleration. | |
| double | getAccelerationLowerLimit (std::size_t _index) const override |
| Get lower limit for acceleration. | |
| void | setAccelerationLowerLimits (const Eigen::VectorXd &lowerLimits) override |
| Set the acceleration upper limits of all the generalized coordinates. | |
| Eigen::VectorXd | getAccelerationLowerLimits () const override |
| Get the acceleration upper limits of all the generalized coordinates. | |
| void | setAccelerationUpperLimit (std::size_t _index, double _acceleration) override |
| Set upper limit for acceleration. | |
| double | getAccelerationUpperLimit (std::size_t _index) const override |
| Get upper limit for acceleration. | |
| void | setAccelerationUpperLimits (const Eigen::VectorXd &upperLimits) override |
| Set the acceleration upper limits of all the generalized coordinates. | |
| Eigen::VectorXd | getAccelerationUpperLimits () const override |
| Get the acceleration upper limits of all the generalized coordinates. | |
| void | setForce (std::size_t _index, double _force) override |
| Set the force of a single generalized coordinate. | |
| double | getForce (std::size_t _index) const override |
| Get the force of a single generalized coordinate. | |
| void | setForces (const Eigen::VectorXd &_forces) override |
| Set the forces of all generalized coordinates in this Joint. | |
| Eigen::VectorXd | getForces () const override |
| Get the forces of all generalized coordinates in this Joint. | |
| void | resetForces () override |
| Set the forces of all generalized coordinates in this Joint to zero. | |
| void | setForceLowerLimit (std::size_t _index, double _force) override |
| Set lower limit for force. | |
| double | getForceLowerLimit (std::size_t _index) const override |
| Get lower limit for force. | |
| void | setForceLowerLimits (const Eigen::VectorXd &lowerLimits) override |
| Set the force upper limits of all the generalized coordinates. | |
| Eigen::VectorXd | getForceLowerLimits () const override |
| Get the force upper limits of all the generalized coordinates. | |
| void | setForceUpperLimit (std::size_t _index, double _force) override |
| Set upper limit for force. | |
| double | getForceUpperLimit (std::size_t _index) const override |
| Get upper limit for force. | |
| void | setForceUpperLimits (const Eigen::VectorXd &upperLimits) override |
| Set the force upper limits of all the generalized coordinates. | |
| Eigen::VectorXd | getForceUpperLimits () const override |
| Get the force upper limits of all the generalized coordinates. | |
| void | setVelocityChange (std::size_t _index, double _velocityChange) override |
| Set a single velocity change. | |
| double | getVelocityChange (std::size_t _index) const override |
| Get a single velocity change. | |
| void | resetVelocityChanges () override |
| Set zero all the velocity change. | |
| void | setConstraintImpulse (std::size_t _index, double _impulse) override |
| Set a single constraint impulse. | |
| double | getConstraintImpulse (std::size_t _index) const override |
| Get a single constraint impulse. | |
| void | resetConstraintImpulses () override |
| Set zero all the constraint impulses. | |
| void | integratePositions (double _dt) override |
| Integrate positions using Euler method. | |
| void | integrateVelocities (double _dt) override |
| Integrate velocities using Euler method. | |
| Eigen::VectorXd | getPositionDifferences (const Eigen::VectorXd &_q2, const Eigen::VectorXd &_q1) const override |
| Return the difference of two generalized coordinates which are measured in the configuration space of this Skeleton. More... | |
| double | computePotentialEnergy () const override |
| Compute and return the potential energy. | |
| Eigen::Vector6d | getBodyConstraintWrench () const override |
| Get constraint wrench expressed in body node frame. | |
| void | setSpringStiffness (std::size_t _index, double _k) override |
| Set stiffness of joint spring force. More... | |
| double | getSpringStiffness (std::size_t _index) const override |
| Get stiffness of joint spring force. More... | |
| void | setRestPosition (std::size_t _index, double _q0) override |
| Set rest position of spring force. More... | |
| double | getRestPosition (std::size_t _index) const override |
| Get rest position of spring force. More... | |
| void | setDampingCoefficient (std::size_t _index, double _d) override |
| Set coefficient of joint damping (viscous friction) force. More... | |
| double | getDampingCoefficient (std::size_t _index) const override |
| Get coefficient of joint damping (viscous friction) force. More... | |
| void | setCoulombFriction (std::size_t _index, double _friction) override |
| Set joint Coulomb friction froce. More... | |
| double | getCoulombFriction (std::size_t _index) const override |
| Get joint Coulomb friction froce. More... | |
| Public Member Functions inherited from dart::dynamics::Joint | |
| Joint (const Joint &)=delete | |
| virtual | ~Joint () |
| Destructor. | |
| void | setProperties (const Properties &properties) |
| Set the Properties of this Joint. | |
| void | setAspectProperties (const AspectProperties &properties) |
| Set the AspectProperties of this Joint. | |
| const Properties & | getJointProperties () const |
| Get the Properties of this Joint. | |
| void | copy (const Joint &_otherJoint) |
| Copy the properties of another Joint. | |
| void | copy (const Joint *_otherJoint) |
| Copy the properties of another Joint. | |
| Joint & | operator= (const Joint &_otherJoint) |
| Same as copy(const Joint&) | |
| const std::string & | setName (const std::string &_name, bool _renameDofs=true) |
| Set joint name and return the name. More... | |
| const std::string & | getName () const |
| Get joint name. | |
| void | setActuatorType (ActuatorType _actuatorType) |
| Set actuator type. | |
| ActuatorType | getActuatorType () const |
| Get actuator type. | |
| void | setMimicJoint (const Joint *_mimicJoint, double _mimicMultiplier=1.0, double _mimicOffset=0.0) |
| Set mimic joint. | |
| const Joint * | getMimicJoint () const |
| Get mimic joint. | |
| double | getMimicMultiplier () const |
| Get mimic joint multiplier. | |
| double | getMimicOffset () const |
| Get mimic joint offset. | |
| bool | isKinematic () const |
| Return true if this joint is kinematic joint. More... | |
| bool | isDynamic () const |
| Return true if this joint is dynamic joint. | |
| BodyNode * | getChildBodyNode () |
| Get the child BodyNode of this Joint. | |
| const BodyNode * | getChildBodyNode () const |
| Get the (const) child BodyNode of this Joint. | |
| BodyNode * | getParentBodyNode () |
| Get the parent BodyNode of this Joint. | |
| const BodyNode * | getParentBodyNode () const |
| Get the (const) parent BodyNode of this Joint. | |
| SkeletonPtr | getSkeleton () |
| Get the Skeleton that this Joint belongs to. | |
| std::shared_ptr< const Skeleton > | getSkeleton () const |
| Get the (const) Skeleton that this Joint belongs to. | |
| const Eigen::Isometry3d & | getTransformFromParentBodyNode () const |
| Get transformation from parent body node to this joint. | |
| const Eigen::Isometry3d & | getTransformFromChildBodyNode () const |
| Get transformation from child body node to this joint. | |
| void | setPositionLimitEnforced (bool enforced) |
| Sets whether enforcing joint position and velocity limits. More... | |
| void | setLimitEnforcement (bool enforced) |
| Sets whether enforcing joint position and velocity limits. More... | |
| bool | isPositionLimitEnforced () const |
| Returns whether enforcing joint position limit. More... | |
| bool | areLimitsEnforced () const |
| Returns whether enforcing joint position and velocity limits. More... | |
| std::size_t | getJointIndexInSkeleton () const |
| Get the index of this Joint within its Skeleton. | |
| std::size_t | getJointIndexInTree () const |
| Get the index of this Joint within its tree. | |
| std::size_t | getTreeIndex () const |
| Get the index of the tree that this Joint belongs to. | |
| double | getPotentialEnergy () const |
| Get potential energy. | |
| const Eigen::Isometry3d & | getLocalTransform () const |
| Deprecated. Use getRelativeTransform() instead. | |
| const Eigen::Vector6d & | getLocalSpatialVelocity () const |
| Deprecated. Use getLocalSpatialVelocity() instead. | |
| const Eigen::Vector6d & | getLocalSpatialAcceleration () const |
| Deprecated. Use getLocalSpatialAcceleration() instead. | |
| const Eigen::Vector6d & | getLocalPrimaryAcceleration () const |
| Deprecated. Use getLocalPrimaryAcceleration() instead. | |
| const math::Jacobian | getLocalJacobian () const |
| Deprecated. Use getRelativeJacobian() instead. | |
| math::Jacobian | getLocalJacobian (const Eigen::VectorXd &positions) const |
| Deprecated. Use getRelativeJacobian() instead. | |
| const math::Jacobian | getLocalJacobianTimeDeriv () const |
| Deprecated. Use getRelativeJacobianTimeDeriv() instead. | |
| const Eigen::Isometry3d & | getRelativeTransform () const |
| Get transform of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. | |
| const Eigen::Vector6d & | getRelativeSpatialVelocity () const |
| Get spatial velocity of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. | |
| const Eigen::Vector6d & | getRelativeSpatialAcceleration () const |
| Get spatial acceleration of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. | |
| const Eigen::Vector6d & | getRelativePrimaryAcceleration () const |
| Get J * \( \ddot{q} \) of this joint. | |
| bool | checkSanity (bool _printWarnings=true) const |
| Returns false if the initial position or initial velocity are outside of limits. | |
| void | notifyPositionUpdate () |
| Notify that a position has updated. | |
| void | notifyPositionUpdated () |
| Notify that a position has updated. | |
| void | notifyVelocityUpdate () |
| Notify that a velocity has updated. | |
| void | notifyVelocityUpdated () |
| Notify that a velocity has updated. | |
| void | notifyAccelerationUpdate () |
| Notify that an acceleration has updated. | |
| void | notifyAccelerationUpdated () |
| Notify that an acceleration has updated. | |
| Public Member Functions inherited from dart::common::Subject | |
| virtual | ~Subject () |
| Destructor will notify all Observers that it is destructing. | |
| Public Member Functions inherited from dart::common::VersionCounter | |
| VersionCounter () | |
| Default constructor. | |
| virtual std::size_t | incrementVersion () |
| Increment the version for this object. | |
| virtual std::size_t | getVersion () const |
| Get the version number of this object. | |
| Public Member Functions inherited from dart::common::EmbedProperties< Joint, detail::JointProperties > | |
| EmbedProperties (Args &&... args) | |
| const AspectProperties & | getAspectProperties () const |
Static Public Member Functions | |
| static const std::string & | getStaticType () |
| Get joint type for this class. | |
Protected Member Functions | |
| WeldJoint (const Properties &properties) | |
| Constructor called by Skeleton class. | |
| Joint * | clone () const override |
| Create a clone of this Joint. More... | |
| void | updateRelativeTransform () const override |
| Update transform of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. | |
| void | updateRelativeSpatialVelocity () const override |
| Update spatial velocity of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. | |
| void | updateRelativeSpatialAcceleration () const override |
| Update spatial acceleration of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. | |
| void | updateRelativePrimaryAcceleration () const override |
| Update J * \( \ddot{q} \) of this joint. | |
| void | updateRelativeJacobian (bool=true) const override |
| Update spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More... | |
| void | updateRelativeJacobianTimeDeriv () const override |
| Update time derivative of spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More... | |
| Protected Member Functions inherited from dart::dynamics::ZeroDofJoint | |
| ZeroDofJoint () | |
| Constructor called by inheriting classes. | |
| void | registerDofs () override |
| Called by the Skeleton class. | |
| void | updateDegreeOfFreedomNames () override |
| Update the names of the joint's degrees of freedom. More... | |
| const math::Jacobian | getRelativeJacobian () const override |
| Get spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. | |
| math::Jacobian | getRelativeJacobian (const Eigen::VectorXd &_positions) const override |
| Get spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. | |
| const math::Jacobian | getRelativeJacobianTimeDeriv () const override |
| Get time derivative of spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. | |
| void | addVelocityTo (Eigen::Vector6d &_vel) override |
| Add joint velocity to _vel. | |
| void | setPartialAccelerationTo (Eigen::Vector6d &_partialAcceleration, const Eigen::Vector6d &_childVelocity) override |
| Set joint partial acceleration to _partialAcceleration. | |
| void | addAccelerationTo (Eigen::Vector6d &_acc) override |
| Add joint acceleration to _acc. | |
| void | addVelocityChangeTo (Eigen::Vector6d &_velocityChange) override |
| Add joint velocity change to _velocityChange. | |
| void | addChildArtInertiaTo (Eigen::Matrix6d &_parentArtInertia, const Eigen::Matrix6d &_childArtInertia) override |
| Add child's articulated inertia to parent's one. | |
| void | addChildArtInertiaImplicitTo (Eigen::Matrix6d &_parentArtInertia, const Eigen::Matrix6d &_childArtInertia) override |
| Add child's articulated inertia to parent's one. Forward dynamics routine. | |
| void | updateInvProjArtInertia (const Eigen::Matrix6d &_artInertia) override |
| Update inverse of projected articulated body inertia. | |
| void | updateInvProjArtInertiaImplicit (const Eigen::Matrix6d &_artInertia, double _timeStep) override |
| Forward dynamics routine. | |
| void | addChildBiasForceTo (Eigen::Vector6d &_parentBiasForce, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasForce, const Eigen::Vector6d &_childPartialAcc) override |
| Add child's bias force to parent's one. | |
| void | addChildBiasImpulseTo (Eigen::Vector6d &_parentBiasImpulse, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasImpulse) override |
| Add child's bias impulse to parent's one. | |
| void | updateTotalForce (const Eigen::Vector6d &_bodyForce, double _timeStep) override |
| Update joint total force. | |
| void | updateTotalImpulse (const Eigen::Vector6d &_bodyImpulse) override |
| Update joint total impulse. | |
| void | resetTotalImpulses () override |
| Set total impulses to zero. | |
| void | updateAcceleration (const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_spatialAcc) override |
| Update joint acceleration. | |
| void | updateVelocityChange (const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_velocityChange) override |
| Update joint velocity change. More... | |
| void | updateForceID (const Eigen::Vector6d &_bodyForce, double _timeStep, bool _withDampingForces, bool _withSpringForces) override |
| Update joint force for inverse dynamics. More... | |
| void | updateForceFD (const Eigen::Vector6d &_bodyForce, double _timeStep, bool _withDampingForces, bool _withSpringForces) override |
| Update joint force for forward dynamics. More... | |
| void | updateImpulseID (const Eigen::Vector6d &_bodyImpulse) override |
| Update joint impulses for inverse dynamics. | |
| void | updateImpulseFD (const Eigen::Vector6d &_bodyImpulse) override |
| Update joint impulses for forward dynamics. | |
| void | updateConstrainedTerms (double _timeStep) override |
| Update constrained terms for forward dynamics. | |
| void | addChildBiasForceForInvMassMatrix (Eigen::Vector6d &_parentBiasForce, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasForce) override |
| Add child's bias force to parent's one. | |
| void | addChildBiasForceForInvAugMassMatrix (Eigen::Vector6d &_parentBiasForce, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasForce) override |
| Add child's bias force to parent's one. | |
| void | updateTotalForceForInvMassMatrix (const Eigen::Vector6d &_bodyForce) override |
| void | getInvMassMatrixSegment (Eigen::MatrixXd &_invMassMat, const std::size_t _col, const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_spatialAcc) override |
| void | getInvAugMassMatrixSegment (Eigen::MatrixXd &_invMassMat, const std::size_t _col, const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_spatialAcc) override |
| void | addInvMassMatrixSegmentTo (Eigen::Vector6d &_acc) override |
| Eigen::VectorXd | getSpatialToGeneralized (const Eigen::Vector6d &_spatial) override |
| Protected Member Functions inherited from dart::dynamics::Joint | |
| Joint () | |
| Constructor called by inheriting class. | |
| DegreeOfFreedom * | createDofPointer (std::size_t _indexInJoint) |
| Create a DegreeOfFreedom pointer. More... | |
| void | updateLocalTransform () const |
| Deprecated. Use updateRelativeTransform() instead. | |
| void | updateLocalSpatialVelocity () const |
| Deprecated. Use updateRelativeSpatialVelocity() instead. | |
| void | updateLocalSpatialAcceleration () const |
| Deprecated. Use updateRelativeSpatialAcceleration() instead. | |
| void | updateLocalPrimaryAcceleration () const |
| Deprecated. Use updateRelativePrimaryAcceleration() instead. | |
| void | updateLocalJacobian (bool mandatory=true) const |
| Deprecated. Use updateRelativeJacobian() instead. | |
| void | updateLocalJacobianTimeDeriv () const |
| Deprecated. Use updateRelativeJacobianTimeDeriv() instead. | |
| void | updateArticulatedInertia () const |
| Tells the Skeleton to update the articulated inertia if it needs updating. | |
| Protected Member Functions inherited from dart::common::Subject | |
| void | sendDestructionNotification () const |
| Send a destruction notification to all Observers. More... | |
| void | addObserver (Observer *_observer) const |
| Add an Observer to the list of Observers. | |
| void | removeObserver (Observer *_observer) const |
| Remove an Observer from the list of Observers. | |
| Protected Member Functions inherited from dart::common::VersionCounter | |
| void | setVersionDependentObject (VersionCounter *dependent) |
Friends | |
| class | Skeleton |
Additional Inherited Members | |
| Public Types inherited from dart::dynamics::Joint | |
| using | CompositeProperties = common::Composite::Properties |
| using | Properties = detail::JointProperties |
| typedef detail::ActuatorType | ActuatorType |
| Public Types inherited from dart::common::EmbedProperties< Joint, detail::JointProperties > | |
| using | Derived = Joint |
| using | Aspect = common::EmbeddedPropertiesAspect< Derived, detail::JointProperties > |
| using | AspectProperties = typename Aspect::Properties |
| using | AspectPropertiesData = typename Aspect::PropertiesData |
| using | Base = common::RequiresAspect< Aspect > |
| Static Public Attributes inherited from dart::dynamics::Joint | |
| static constexpr ActuatorType | FORCE = detail::FORCE |
| static constexpr ActuatorType | PASSIVE = detail::PASSIVE |
| static constexpr ActuatorType | SERVO = detail::SERVO |
| static constexpr ActuatorType | MIMIC = detail::MIMIC |
| static constexpr ActuatorType | ACCELERATION = detail::ACCELERATION |
| static constexpr ActuatorType | VELOCITY = detail::VELOCITY |
| static constexpr ActuatorType | LOCKED = detail::LOCKED |
| static const ActuatorType | DefaultActuatorType = detail::DefaultActuatorType |
| Default actuator type. | |
| Protected Attributes inherited from dart::dynamics::Joint | |
| BodyNode * | mChildBodyNode |
| Child BodyNode pointer that this Joint belongs to. | |
| Eigen::Isometry3d | mT |
| Relative transformation of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More... | |
| Eigen::Vector6d | mSpatialVelocity |
| Relative spatial velocity from parent BodyNode to child BodyNode where the velocity is expressed in child body Frame. More... | |
| Eigen::Vector6d | mSpatialAcceleration |
| Relative spatial acceleration from parent BodyNode to child BodyNode where the acceleration is expressed in the child body Frame. More... | |
| Eigen::Vector6d | mPrimaryAcceleration |
| J * q_dd. More... | |
| bool | mNeedTransformUpdate |
| True iff this joint's position has changed since the last call to getRelativeTransform() | |
| bool | mNeedSpatialVelocityUpdate |
| True iff this joint's position or velocity has changed since the last call to getRelativeSpatialVelocity() | |
| bool | mNeedSpatialAccelerationUpdate |
| True iff this joint's position, velocity, or acceleration has changed since the last call to getRelativeSpatialAcceleration() | |
| bool | mNeedPrimaryAccelerationUpdate |
| True iff this joint's position, velocity, or acceleration has changed since the last call to getRelativePrimaryAcceleration() | |
| bool | mIsRelativeJacobianDirty |
| True iff this joint's relative Jacobian has not been updated since the last position change. | |
| bool | mIsRelativeJacobianTimeDerivDirty |
| True iff this joint's relative Jacobian time derivative has not been updated since the last position or velocity change. | |
| Protected Attributes inherited from dart::common::Subject | |
| std::set< Observer * > | mObservers |
| List of current Observers. | |
| Protected Attributes inherited from dart::common::VersionCounter | |
| std::size_t | mVersion |
| Protected Attributes inherited from dart::common::EmbedProperties< Joint, detail::JointProperties > | |
| AspectProperties | mAspectProperties |
| Aspect::Properties data, directly accessible to your derived class. | |
Detailed Description
class WeldJoint
Member Function Documentation
◆ clone()
|
overrideprotectedvirtual |
Create a clone of this Joint.
This may only be called by the Skeleton class.
Implements dart::dynamics::Joint.
◆ isCyclic()
|
overridevirtual |
Get whether a generalized coordinate is cyclic.
Return true if and only if this generalized coordinate has an infinite number of positions that produce the same relative transform. Note that, for a multi-DOF joint, producing a cycle may require altering the position of this Joint's other generalized coordinates.
Implements dart::dynamics::Joint.
◆ updateRelativeJacobian()
|
overrideprotectedvirtual |
Update spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame.
- Parameters
-
[in] mandatory This argument can be set to false if the Jacobian update request is due to a change in Joint positions, because not all Joint types have a relative Jacobian that depends on their Joint positions, so a relative Jacobian update would not actually be required.
Implements dart::dynamics::Joint.
◆ updateRelativeJacobianTimeDeriv()
|
overrideprotectedvirtual |
Update time derivative of spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame.
If the relative Jacobian time derivative of this Joint is zero, then this function will be a no op.
Implements dart::dynamics::Joint.
The documentation for this class was generated from the following files:
- dart/dynamics/WeldJoint.hpp
- dart/dynamics/WeldJoint.cpp
