#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

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

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation