1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
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
|
