smurf::Joint Class Reference

#include <Joint.hpp>

Inheritance diagram for smurf::Joint:

Public Member Functions
	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

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

Constructor & Destructor Documentation

smurf::Joint::Joint	(	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
	)

smurf::Joint::Joint	(	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::Affine3d &	parentToJointOrigin
	)

smurf::Joint::Joint	(	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::Affine3d &	parentToJointOrigin,
		urdf::JointSharedPtr	jointModel
	)

smurf::Joint::Joint	(	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
	)

smurf::Joint::Joint	(	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::Affine3d &	parentToJointOrigin
	)

smurf::Joint::Joint	(	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::Affine3d &	parentToJointOrigin,
		urdf::JointSharedPtr	jointModel
	)

Member Function Documentation

std::pair< double, double > smurf::Joint::getEffortLimits

(

)

const

urdf::JointSharedPtr smurf::Joint::getJointModel

(

)

const

const Eigen::Affine3d & smurf::Joint::getParentToJointOrigin

(

)

const

std::pair< double, double > smurf::Joint::getPositionLimits

(

)

const

const Eigen::Affine3d & smurf::Joint::getSourceToAxis

(

)

const

std::pair< double, double > smurf::Joint::getSpeedLimits

(

)

const

smurf::SpringParam smurf::Joint::getSpringParam

(

)

const

bool smurf::Joint::hasSpring

(

)

const

void smurf::Joint::setParamFromConfigMap

(

configmaps::ConfigMap

configMap

)

void smurf::Joint::setParentToJointOrigin

(

const Eigen::Affine3d

inParentToJointOrigin

)

Member Data Documentation

std::string smurf::Joint::driverName

protected

Name of the rock task that provides the driver for this joint.

e.g. "servo_dynamixel::Task"

bool smurf::Joint::isDynamic

protected

urdf::JointSharedPtr smurf::Joint::jointModel

protected

Urdf data of the joint

base::JointLimitRange smurf::Joint::limits

protected

Physical limits of the joint.

Eigen::Affine3d smurf::Joint::parentToJointOrigin

protected

Eigen::Affine3d smurf::Joint::sourceToAxis

protected

Transformation from the source frame to the joint axis.

SpringParam smurf::Joint::springParam

protected

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

• /build/rock-master-18.09-tools-smurf-0.20180405/src/Joint.hpp
• /build/rock-master-18.09-tools-smurf-0.20180405/src/Joint.cpp