smurf
Public Member Functions | Public Attributes | List of all members
smurf::RotationalJoint Class Reference

#include <RotationalJoint.hpp>

Inheritance diagram for smurf::RotationalJoint:
smurf::Joint smurf::DynamicTransformation smurf::Transformation

Public Member Functions

 RotationalJoint (const std::string name, Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis, const Eigen::Vector3d &rotationAxis)
 
 RotationalJoint (const std::string name, Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis, const Eigen::Vector3d &rotationAxis, const Eigen::Affine3d &parentToJointOrigin, urdf::JointSharedPtr jointModel)
 
 RotationalJoint (Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis, const Eigen::Vector3d &rotationAxis)
 
 RotationalJoint (Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis, const Eigen::Vector3d &rotationAxis, const Eigen::Affine3d &parentToJointOrigin, urdf::JointSharedPtr jointModel)
 
- Public Member Functions inherited from smurf::Joint
 Joint (const std::string &name, Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis)
 
 Joint (const std::string &name, Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis, const Eigen::Affine3d &parentToJointOrigin)
 
 Joint (const std::string &name, Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis, const Eigen::Affine3d &parentToJointOrigin, urdf::JointSharedPtr jointModel)
 
 Joint (Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis)
 
 Joint (Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis, const Eigen::Affine3d &parentToJointOrigin)
 
 Joint (Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis, const Eigen::Affine3d &parentToJointOrigin, urdf::JointSharedPtr jointModel)
 
const Eigen::Affine3d & getSourceToAxis () const
 
const Eigen::Affine3d & getParentToJointOrigin () const
 
void setParentToJointOrigin (const Eigen::Affine3d inParentToJointOrigin)
 
urdf::JointSharedPtr getJointModel () const
 
std::pair< double, double > getPositionLimits () const
 
std::pair< double, double > getEffortLimits () const
 
std::pair< double, double > getSpeedLimits () const
 
void setParamFromConfigMap (configmaps::ConfigMap configMap)
 
SpringParam getSpringParam () const
 
bool hasSpring () const
 
- Public Member Functions inherited from smurf::DynamicTransformation
 DynamicTransformation (const std::string &name, Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port)
 
 DynamicTransformation (Frame *sourceFrame, Frame *targetFrame, const std::string &provider, const std::string &port)
 
const std::string & getProviderName () const
 
const std::string & getProviderPortName () const
 
- Public Member Functions inherited from smurf::Transformation
 Transformation (const std::string &name, Frame *sourceFrame, Frame *targetFrame)
 
 Transformation (Frame *sourceFrame, Frame *targetFrame)
 
const Frame & getSourceFrame () const
 
const Frame & getTargetFrame () const
 
const std::string & getName () const
 

Public Attributes

Eigen::Vector3d rotationAxis
 

Additional Inherited Members

- Protected Attributes inherited from smurf::Joint
std::string driverName
 
base::JointLimitRange limits
 
Eigen::Affine3d sourceToAxis
 
Eigen::Affine3d parentToJointOrigin
 
urdf::JointSharedPtr jointModel
 
SpringParam springParam
 
bool isDynamic
 

Constructor & Destructor Documentation

◆ RotationalJoint() [1/4]

smurf::RotationalJoint::RotationalJoint ( const std::string  name,
smurf::Frame *  sourceFrame,
smurf::Frame *  targetFrame,
const std::string &  provider,
const std::string &  port,
const std::string &  driverName,
base::JointLimitRange &  limits,
const Eigen::Affine3d &  sourceToAxis,
const Eigen::Vector3d &  rotationAxis 
)

◆ RotationalJoint() [2/4]

smurf::RotationalJoint::RotationalJoint ( const std::string  name,
smurf::Frame *  sourceFrame,
smurf::Frame *  targetFrame,
const std::string &  provider,
const std::string &  port,
const std::string &  driverName,
base::JointLimitRange &  limits,
const Eigen::Affine3d &  sourceToAxis,
const Eigen::Vector3d &  rotationAxis,
const Eigen::Affine3d &  parentToJointOrigin,
urdf::JointSharedPtr  jointModel 
)

◆ RotationalJoint() [3/4]

smurf::RotationalJoint::RotationalJoint ( smurf::Frame *  sourceFrame,
smurf::Frame *  targetFrame,
const std::string &  provider,
const std::string &  port,
const std::string &  driverName,
base::JointLimitRange &  limits,
const Eigen::Affine3d &  sourceToAxis,
const Eigen::Vector3d &  rotationAxis 
)

◆ RotationalJoint() [4/4]

smurf::RotationalJoint::RotationalJoint ( smurf::Frame *  sourceFrame,
smurf::Frame *  targetFrame,
const std::string &  provider,
const std::string &  port,
const std::string &  driverName,
base::JointLimitRange &  limits,
const Eigen::Affine3d &  sourceToAxis,
const Eigen::Vector3d &  rotationAxis,
const Eigen::Affine3d &  parentToJointOrigin,
urdf::JointSharedPtr  jointModel 
)

Member Data Documentation

◆ rotationAxis

Eigen::Vector3d smurf::RotationalJoint::rotationAxis

Rotation axis of the joint in the target frame.

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