tinyrobotics
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Represents a joint in a tinyrobotics model which connects two links. More...
#include <Joint.hpp>
Public Member Functions | |
std::string | get_type () const |
Get joint type as a string. | |
Eigen::Transform< Scalar, 3, Eigen::Isometry > | get_joint_transform (const Scalar &q) const |
Compute the joint transform. | |
Eigen::Transform< Scalar, 3, Eigen::Isometry > | get_parent_to_child_transform (const Scalar &q) |
Compute the transform from parent to child. | |
template<typename NewScalar > | |
Joint< NewScalar > | cast () const |
Casts the joint to a new scalar type. | |
Public Attributes | |
int | joint_id = -1 |
Index of the joint in the tinyrobotics model's joint vector. | |
int | idx = -1 |
Index of the joint in the tinyrobotics model's configuration vector. | |
std::string | name = "" |
Name of the joint. | |
JointType | type = JointType::UNKNOWN |
Type of the joint. | |
Eigen::Matrix< Scalar, 3, 1 > | axis = Eigen::Matrix<Scalar, 3, 1>::Zero() |
Axis of motion for the joint. | |
Eigen::Transform< Scalar, 3, Eigen::Isometry > | parent_transform |
Homogeneous transform to the parent link. | |
Eigen::Transform< Scalar, 3, Eigen::Isometry > | child_transform |
Homogeneous transform to the child link. | |
std::string | parent_link_name = "" |
Name of the joints parent link. | |
std::string | child_link_name = "" |
Name of the joints child link. | |
Eigen::Matrix< Scalar, 6, 6 > | X = Eigen::Matrix<Scalar, 6, 6>::Identity() |
Spatial transformation matrix from the parent to the child link. | |
Eigen::Matrix< Scalar, 6, 1 > | S = Eigen::Matrix<Scalar, 6, 1>::Zero() |
Spatial axis. | |
Represents a joint in a tinyrobotics model which connects two links.
Scalar | The scalar type of the joint |
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Casts the joint to a new scalar type.
NewScalar | Scalar type to cast the joint to. |
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Compute the joint transform.
q | The joint position variable. |
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Compute the transform from parent to child.
q | The joint position variable. |
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Get joint type as a string.
joint_type | The joint type to convert to a string. |
Eigen::Transform<Scalar, 3, Eigen::Isometry> tr::model::Joint< Scalar >::child_transform |
Homogeneous transform to the child link.
Eigen::Transform<Scalar, 3, Eigen::Isometry> tr::model::Joint< Scalar >::parent_transform |
Homogeneous transform to the parent link.