robJoint Class Reference

Joint types. More...

#include <robJoint.h>

Inheritance diagram for robJoint:

Public Types
enum	Mode { ACTIVE , PASSIVE }
	Joint modes. More...
enum	Errno { ESUCCESS , EFAILURE }
typedef cmnJointType	Type

Public Member Functions
	robJoint ()
	Default constructor.
	robJoint (cmnJointType type, robJoint::Mode mode, double offset, double min, double max, double ftmax)
virtual	~robJoint ()
const std::string &	Name (void) const
std::string &	Name (void)
cmnJointType	GetType () const
	Return the type of the joint.
robJoint::Mode	GetMode () const
	Return the mode of the joint.
double	GetPosition () const
	Return the joint position.
double	GetVelocity () const
	Return the joint velocity.
double	GetForceTorque () const
	Return the joint force or torque.
void	SetPosition (double q)
	Set the joint position.
void	SetVelocity (double qd)
	Set the joint velocity.
void	SetForceTorque (double ft)
	Set the force/torque.
double	PositionOffset () const
	Return the offset position.
void	SetPositionOffset (const double offset)
const double &	PositionMin (void) const
	Return the minimum position.
double &	PositionMin (void)
const double &	PositionMax (void) const
	Return the maximum position.
double &	PositionMax (void)
const double &	ForceTorqueMax (void) const
	Return the maximum force/torque.
double &	ForceTorqueMax (void)
virtual robJoint::Errno	Read (std::istream &is)
	Read from an input stream.
virtual robJoint::Errno	Write (std::ostream &os) const
	Read from an input stream.

Static Public Attributes
static const cmnJointType	UNDEFINED = CMN_JOINT_UNDEFINED
static const cmnJointType	HINGE = CMN_JOINT_REVOLUTE
static const cmnJointType	SLIDER = CMN_JOINT_PRISMATIC
static const cmnJointType	UNIVERSAL = CMN_JOINT_UNIVERSAL
static const cmnJointType	BALLSOCKET = CMN_JOINT_BALL_SOCKET

Detailed Description

Joint types.

These are used to identify the type of joints.

Member Typedef Documentation

Type

typedef cmnJointType robJoint::Type

Member Enumeration Documentation

Errno

enum robJoint::Errno

Enumerator
ESUCCESS
EFAILURE

Mode

enum robJoint::Mode

Joint modes.

Each joint can be active (powered by a motor) or passive

Enumerator
ACTIVE
PASSIVE

Constructor & Destructor Documentation

robJoint() [1/2]

robJoint::robJoint

(

)

Default constructor.

robJoint() [2/2]

robJoint::robJoint	(	cmnJointType	type,
		robJoint::Mode	mode,
		double	offset,
		double	min,
		double	max,
		double	ftmax )

~robJoint()

virtual robJoint::~robJoint ( )

inlinevirtual

Member Function Documentation

ForceTorqueMax() [1/2]

double & robJoint::ForceTorqueMax

(

void

)

ForceTorqueMax() [2/2]

const double & robJoint::ForceTorqueMax

(

void

)

const

Return the maximum force/torque.

Returns

The absolute value for the maximum force or torque that can be applied by the joint.

GetForceTorque()

double robJoint::GetForceTorque

(

)

const

Return the joint force or torque.

If supported, this returns the joint force or torque.

Returns

The joint torque or force (no unit)

GetMode()

robJoint::Mode robJoint::GetMode

(

)

const

Return the mode of the joint.

Returns

The mode of the joint (active or passive)

GetPosition()

double robJoint::GetPosition

(

)

const

Return the joint position.

If supported, this returns the joint position.

Returns

The joint angular or linear position (no unit)

GetType()

cmnJointType robJoint::GetType

(

)

const

Return the type of the joint.

Returns

The type of the joint (hinge, slider, universal, ball and socket)

GetVelocity()

double robJoint::GetVelocity

(

)

const

Return the joint velocity.

If supported, this returns the joint velocity.

Returns

The joint angular or linear velocity (no unit)

Name() [1/2]

std::string & robJoint::Name ( void )

inline

Name() [2/2]

const std::string & robJoint::Name ( void ) const

inline

PositionMax() [1/2]

double & robJoint::PositionMax

(

void

)

PositionMax() [2/2]

const double & robJoint::PositionMax

(

void

)

const

Return the maximum position.

Returns

The maximum position of the joint. This value has no unit.

PositionMin() [1/2]

double & robJoint::PositionMin

(

void

)

PositionMin() [2/2]

const double & robJoint::PositionMin

(

void

)

const

Return the minimum position.

Returns

The minimum position of the joint. This value has no unit.

PositionOffset()

double robJoint::PositionOffset

(

)

const

Return the offset position.

Returns

The offset position of the joint. This value has no unit.

Read()

virtual robJoint::Errno robJoint::Read ( std::istream & is )

virtual

Read from an input stream.

Use this method to configure the parameters of the joints from an input stream. The parameters are in the following order: type, mode, position offset, min position, max position, max force/torque.

Parameters

is[in]

The input stream

Reimplemented in robKinematics.

SetForceTorque()

void robJoint::SetForceTorque

(

double

ft

)

Set the force/torque.

If supported, this sets the force/torque. The new value is NOT clipped to the force/torque limit.

Parameters

ft	The new force/torque

SetPosition()

void robJoint::SetPosition

(

double

q

)

Set the joint position.

If supported, this sets the joint position. The position is NOT clipped to the position limits.

Parameters

q	The new joint angular or linear position

SetPositionOffset()

void robJoint::SetPositionOffset

(

const double

offset

)

SetVelocity()

void robJoint::SetVelocity

(

double

qd

)

Set the joint velocity.

If supported, this sets the joint velocity. The velocity is NOT clipped to the velocity limit.

Parameters

qd	The new joint angular or linear velocity.

Write()

virtual robJoint::Errno robJoint::Write ( std::ostream & os ) const

virtual

Read from an input stream.

Use this method to write the parameters of the joints to an output stream. This method can be overloaded for more specific joints.

Parameters

os[in]

The output stream

Reimplemented in robKinematics.

Member Data Documentation

BALLSOCKET

const cmnJointType robJoint::BALLSOCKET = CMN_JOINT_BALL_SOCKET

static

HINGE

const cmnJointType robJoint::HINGE = CMN_JOINT_REVOLUTE

static

SLIDER

const cmnJointType robJoint::SLIDER = CMN_JOINT_PRISMATIC

static

UNDEFINED

const cmnJointType robJoint::UNDEFINED = CMN_JOINT_UNDEFINED

static

UNIVERSAL

const cmnJointType robJoint::UNIVERSAL = CMN_JOINT_UNIVERSAL

static

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

• tmp/cisst-saw/cisst/cisstRobot/robJoint.h