#include <ZeroDofJoint.hpp>

Inheritance diagram for dart::dynamics::ZeroDofJoint:

Collaboration diagram for dart::dynamics::ZeroDofJoint:

Classes
struct	Properties

Public Member Functions
	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.

Passive forces - spring, viscous friction, Coulomb friction
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.

virtual const std::string &	getType () const =0
	Gets a string representing the joint type.

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.

virtual void	setTransformFromParentBodyNode (const Eigen::Isometry3d &_T)
	Set transformation from parent body node to this joint.

virtual void	setTransformFromChildBodyNode (const Eigen::Isometry3d &_T)
	Set transformation from child body node to this joint.

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.

virtual bool	isCyclic (std::size_t _index) const =0
	Get whether a generalized coordinate is cyclic. More...

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

Protected Member Functions
	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...

Recursive dynamics routines
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.

Recursive algorithm routines for equations of motion
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.

virtual Joint *	clone () const =0
	Create a clone of this Joint. More...

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.

virtual void	updateRelativeTransform () const =0
	Update transform of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame.

virtual void	updateRelativeSpatialVelocity () const =0
	Update spatial velocity of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame.

virtual void	updateRelativeSpatialAcceleration () const =0
	Update spatial acceleration of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame.

virtual void	updateRelativePrimaryAcceleration () const =0
	Update J * \( \ddot{q} \) of this joint.

virtual void	updateRelativeJacobian (bool mandatory=true) const =0
	Update spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

virtual void	updateRelativeJacobianTimeDeriv () const =0
	Update time derivative of spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

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)

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 ZeroDofJoint

Member Function Documentation

◆ getCoulombFriction()

double dart::dynamics::ZeroDofJoint::getCoulombFriction ( std::size_t _index ) const

overridevirtual

Get joint Coulomb friction froce.

Parameters

[in] _index Index of joint axis.

Implements dart::dynamics::Joint.

◆ getDampingCoefficient()

double dart::dynamics::ZeroDofJoint::getDampingCoefficient ( std::size_t _index ) const

overridevirtual

Get coefficient of joint damping (viscous friction) force.

Parameters

[in] _index Index of joint axis.

Implements dart::dynamics::Joint.

◆ getPositionDifferences()

Eigen::VectorXd dart::dynamics::ZeroDofJoint::getPositionDifferences	(	const Eigen::VectorXd &	_q2,
		const Eigen::VectorXd &	_q1
	)		const

overridevirtual

Return the difference of two generalized coordinates which are measured in the configuration space of this Skeleton.

Implements dart::dynamics::Joint.

◆ getRestPosition()

double dart::dynamics::ZeroDofJoint::getRestPosition ( std::size_t _index ) const

overridevirtual

Get rest position of spring force.

Parameters

[in] _index Index of joint axis.

Returns: Rest position.

Implements dart::dynamics::Joint.

◆ getSpringStiffness()

double dart::dynamics::ZeroDofJoint::getSpringStiffness ( std::size_t _index ) const

overridevirtual

Get stiffness of joint spring force.

Parameters

[in] _index Index of joint axis.

Implements dart::dynamics::Joint.

◆ setCoulombFriction()

void dart::dynamics::ZeroDofJoint::setCoulombFriction	(	std::size_t	_index,
		double	_friction
	)

overridevirtual

Set joint Coulomb friction froce.

Parameters

[in]	_index	Index of joint axis.
[in]	_friction	Joint Coulomb friction froce given index.

Implements dart::dynamics::Joint.

◆ setDampingCoefficient()

void dart::dynamics::ZeroDofJoint::setDampingCoefficient	(	std::size_t	_index,
		double	_coeff
	)

overridevirtual

Set coefficient of joint damping (viscous friction) force.

Parameters

[in]	_index	Index of joint axis.
[in]	_coeff	Damping coefficient.

Implements dart::dynamics::Joint.

◆ setRestPosition()

void dart::dynamics::ZeroDofJoint::setRestPosition	(	std::size_t	_index,
		double	_q0
	)

overridevirtual

Set rest position of spring force.

Parameters

[in]	_index	Index of joint axis.
[in]	_q0	Rest position.

Implements dart::dynamics::Joint.

◆ setSpringStiffness()

void dart::dynamics::ZeroDofJoint::setSpringStiffness	(	std::size_t	_index,
		double	_k
	)

overridevirtual

Set stiffness of joint spring force.

Parameters

[in]	_index	Index of joint axis.
[in]	_k	Spring stiffness.

Implements dart::dynamics::Joint.

◆ updateDegreeOfFreedomNames()

void dart::dynamics::ZeroDofJoint::updateDegreeOfFreedomNames ( )

overrideprotectedvirtual

Update the names of the joint's degrees of freedom.

Used when setName() is called with _renameDofs set to true.

Implements dart::dynamics::Joint.

◆ updateForceFD()

void dart::dynamics::ZeroDofJoint::updateForceFD	(	const Eigen::Vector6d &	_bodyForce,
		double	_timeStep,
		bool	_withDampingForces,
		bool	_withSpringForces
	)

overrideprotectedvirtual

Update joint force for forward dynamics.

Parameters

[in]	_bodyForce	Transmitting spatial body force from the parent BodyNode to the child BodyNode. The spatial force is expressed in the child BodyNode's frame.
[in]	_timeStep
[in]	_withDampingForces
[in]	_withSpringForces

Implements dart::dynamics::Joint.

◆ updateForceID()

void dart::dynamics::ZeroDofJoint::updateForceID	(	const Eigen::Vector6d &	_bodyForce,
		double	_timeStep,
		bool	_withDampingForces,
		bool	_withSpringForces
	)

overrideprotectedvirtual

Update joint force for inverse dynamics.

Parameters

[in]	_bodyForce	Transmitting spatial body force from the parent BodyNode to the child BodyNode. The spatial force is expressed in the child BodyNode's frame.
[in]	_timeStep
[in]	_withDampingForces
[in]	_withSpringForces

Implements dart::dynamics::Joint.

◆ updateVelocityChange()

void dart::dynamics::ZeroDofJoint::updateVelocityChange	(	const Eigen::Matrix6d &	_artInertia,
		const Eigen::Vector6d &	_velocityChange
	)

overrideprotectedvirtual

Update joint velocity change.

Parameters

_artInertia
_velocityChange

Implements dart::dynamics::Joint.

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

dart/dynamics/ZeroDofJoint.hpp
dart/dynamics/ZeroDofJoint.cpp

Classes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getCoulombFriction()

◆ getDampingCoefficient()

◆ getPositionDifferences()

◆ getRestPosition()

◆ getSpringStiffness()

◆ setCoulombFriction()

◆ setDampingCoefficient()

◆ setRestPosition()

◆ setSpringStiffness()

◆ updateDegreeOfFreedomNames()

◆ updateForceFD()

◆ updateForceID()

◆ updateVelocityChange()