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Diffstat (limited to 'intern/itasc/kdl/joint.hpp')
| -rw-r--r-- | intern/itasc/kdl/joint.hpp | 138 |
1 files changed, 138 insertions, 0 deletions
diff --git a/intern/itasc/kdl/joint.hpp b/intern/itasc/kdl/joint.hpp new file mode 100644 index 00000000000..a1291509f0f --- /dev/null +++ b/intern/itasc/kdl/joint.hpp @@ -0,0 +1,138 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_JOINT_HPP +#define KDL_JOINT_HPP + +#include "frames.hpp" +#include <string> + +namespace KDL { + + /** + * \brief This class encapsulates a simple joint, that is with one + * parameterized degree of freedom and with scalar dynamic properties. + * + * A simple joint is described by the following properties : + * - scale: ratio between motion input and motion output + * - offset: between the "physical" and the "logical" zero position. + * - type: revolute or translational, along one of the basic frame axes + * - inertia, stiffness and damping: scalars representing the physical + * effects along/about the joint axis only. + * + * @ingroup KinematicFamily + */ + class Joint { + public: + typedef enum { RotX,RotY,RotZ,TransX,TransY,TransZ,Sphere,Swing,None} JointType; + /** + * Constructor of a joint. + * + * @param type type of the joint, default: Joint::None + * @param scale scale between joint input and actual geometric + * movement, default: 1 + * @param offset offset between joint input and actual + * geometric input, default: 0 + * @param inertia 1D inertia along the joint axis, default: 0 + * @param damping 1D damping along the joint axis, default: 0 + * @param stiffness 1D stiffness along the joint axis, + * default: 0 + */ + Joint(const JointType& type=None,const double& scale=1,const double& offset=0, + const double& inertia=0,const double& damping=0,const double& stiffness=0); + Joint(const Joint& in); + + Joint& operator=(const Joint& arg); + + /** + * Request the 6D-pose between the beginning and the end of + * the joint at joint position q + * + * @param q the 1D joint position + * + * @return the resulting 6D-pose + */ + Frame pose(const double& q)const; + /** + * Request the resulting 6D-velocity with a joint velocity qdot + * + * @param qdot the 1D joint velocity + * + * @return the resulting 6D-velocity + */ + Twist twist(const double& qdot, int dof=0)const; + + /** + * Request the type of the joint. + * + * @return const reference to the type + */ + const JointType& getType() const + { + return type; + }; + + /** + * Request the stringified type of the joint. + * + * @return const string + */ + const std::string getTypeName() const + { + switch (type) { + case RotX: + return "RotX"; + case RotY: + return "RotY"; + case RotZ: + return "RotZ"; + case TransX: + return "TransX"; + case TransY: + return "TransY"; + case TransZ: + return "TransZ"; + case Sphere: + return "Sphere"; + case Swing: + return "Swing"; + case None: + return "None"; + default: + return "None"; + } + }; + unsigned int getNDof() const; + + virtual ~Joint(); + + private: + Joint::JointType type; + double scale; + double offset; + double inertia; + double damping; + double stiffness; + }; + +} // end of namespace KDL + +#endif |