Static properties from the DART Joint. More...

Public Member Functions
	Properties (const ::dart::dynamics::Joint *joint)
	Constructs the joint properties for `joint`. More...

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

const std::string &	getType () const
	Return the type of the joint.

std::size_t	getNumDofs () const
	Return the number of DOFs in the joint.

const std::vector< std::string > &	getDofNames () const
	Return the names of DOFs in the joint.

bool	hasPositionLimit (std::size_t index) const
	Return whether the index DOF is position-limited.

bool	isPositionLimited () const
	Return whether any DOF is position-limited.

const Eigen::VectorXd &	getPositionLowerLimits () const
	Return the vector of position lower limits.

const Eigen::VectorXd &	getPositionUpperLimits () const
	Return the vector of position upper limits.

const Eigen::VectorXd &	getVelocityLowerLimits () const
	Return the vector of velocity lower limits.

const Eigen::VectorXd &	getVelocityUpperLimits () const
	Return the vector of velocity upper limits.

bool	operator== (const Properties &otherProperties) const
	Return whether two JointStateSpace::Properties are identical. More...

bool	operator!= (const Properties &otherProperties) const
	Return whether two JointStateSpace::Properties are different. More...

Protected Attributes
std::string	mName
	Name of the joint.

std::string	mType
	Name of the joint type.

std::vector< std::string >	mDofNames
	Names of DOFs in the Joint.

Eigen::VectorXd	mPositionLowerLimits
	The joint's position lower limits.

Eigen::VectorXd	mPositionUpperLimits
	The joint's position upper limits.

Eigen::Matrix< bool, Eigen::Dynamic, 1 >	mPositionHasLimits
	The joint's position limits.

Eigen::VectorXd	mVelocityLowerLimits
	The joint's velocity lower limits.

Eigen::VectorXd	mVelocityUpperLimits
	The joint's velocity upper limits.

Detailed Description

Static properties from the DART Joint.

These will not update if the Joint is updated.

Constructor & Destructor Documentation

aikido::statespace::dart::JointStateSpace::Properties::Properties ( const ::dart::dynamics::Joint * joint )

explicit

Constructs the joint properties for joint.

Parameters

joint Joint to create properties for

bool aikido::statespace::dart::JointStateSpace::Properties::operator!= ( const Properties & otherProperties ) const

Return whether two JointStateSpace::Properties are different.

Parameters

otherProperties Other Properties to compare against

bool aikido::statespace::dart::JointStateSpace::Properties::operator== ( const Properties & otherProperties ) const

Return whether two JointStateSpace::Properties are identical.

Parameters

otherProperties Other Properties to compare against

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