tr::model::Joint< Scalar > Struct Template Reference

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.

Detailed Description

template<typename Scalar>
struct tr::model::Joint< Scalar >

Represents a joint in a tinyrobotics model which connects two links.

Template Parameters

Scalar

The scalar type of the joint

Member Function Documentation

cast()

template<typename Scalar >

template<typename NewScalar >

Joint< NewScalar > tr::model::Joint< Scalar >::cast ( ) const

inline

Casts the joint to a new scalar type.

Template Parameters

NewScalar

Scalar type to cast the joint to.

Returns

Joint with new scalar type.

get_joint_transform()

template<typename Scalar >

Eigen::Transform< Scalar, 3, Eigen::Isometry > tr::model::Joint< Scalar >::get_joint_transform ( const Scalar &  q ) const

inline

Compute the joint transform.

Parameters

q	The joint position variable.

Returns

Homogeneous transform of the joint from its home position to its transformed position.

get_parent_to_child_transform()

template<typename Scalar >

Eigen::Transform< Scalar, 3, Eigen::Isometry > tr::model::Joint< Scalar >::get_parent_to_child_transform ( const Scalar &  q )

inline

Compute the transform from parent to child.

Parameters

q	The joint position variable.

Returns

Homogeneous transform from parent to child.

get_type()

template<typename Scalar >

std::string tr::model::Joint< Scalar >::get_type ( ) const

inline

Get joint type as a string.

Parameters

joint_type

The joint type to convert to a string.

Returns

String representation of the joint type.

Member Data Documentation

child_transform

template<typename Scalar >

Eigen::Transform<Scalar, 3, Eigen::Isometry> tr::model::Joint< Scalar >::child_transform

Initial value:

=
            Eigen::Transform<Scalar, 3, Eigen::Isometry>::Identity()

Homogeneous transform to the child link.

parent_transform

template<typename Scalar >

Eigen::Transform<Scalar, 3, Eigen::Isometry> tr::model::Joint< Scalar >::parent_transform

Initial value:

=
            Eigen::Transform<Scalar, 3, Eigen::Isometry>::Identity()

Homogeneous transform to the parent link.

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The documentation for this struct was generated from the following file:

• include/Joint.hpp