Joint< DataType, dim > Class Template Reference

#include <Joint.h>

List of all members.

Public Types
enum	actuationType { revolute, prismatic, sphericalWrist }
Public Member Functions
	Joint ()
	Joint (const Joint &v)
	Joint (PType o, PType z, PType x, int t)
	Joint (PType o, PType z, PType x, int t, std::vector< int > cf)
	~Joint ()
void	setDefault ()
virtual std::vector< int > &	CFIdTag ()
void	setId (int v)
virtual void	Restart (std::ifstream &ifs, int &pos, double &t, double &dt)
virtual void	Checkpointing (std::ofstream &ofs)
virtual PType	getOrigin ()
virtual void	setOrigin (PType &o)
Protected Attributes
int	id
std::vector< int >	CFidTag
PType	origin
PType	xaxis
PType	yaxis
PType	zaxis
int	type
int	connectionId
int	connectionOrientation
int	CFidTag_size
Friends
class	DH_Link< DataType, dim >
class	DH_Chain< DataType, dim >
class	SceneBase< DataType, dim >
class	Scene< DataType, dim >

---

Detailed Description

template<class DataType, int dim>
class Joint< DataType, dim >

Container used to expresss the spatial position and orientaiton of a revolute, prosmatic, or spherical wrist joint.
These positions and orientations are in the coordinate frame of the Part or Assembly labeled by CFidTag.
Joints in a Part's coordinate frame can be related to a connection (2d:segment, 3D:facet).

---

Member Enumeration Documentation

template<class DataType , int dim>

enum Joint::actuationType

Enumerator:

revolute
prismatic
sphericalWrist

---

Constructor & Destructor Documentation

template<class DataType , int dim>

Joint< DataType, dim >::Joint

(

)

[inline]

References Joint< DataType, dim >::setDefault().

template<class DataType , int dim>

Joint< DataType, dim >::Joint

(

const Joint< DataType, dim > &

v

)

[inline]

References Joint< DataType, dim >::CFidTag, Joint< DataType, dim >::connectionId, Joint< DataType, dim >::connectionOrientation, Joint< DataType, dim >::origin, Joint< DataType, dim >::type, Joint< DataType, dim >::xaxis, Joint< DataType, dim >::yaxis, and Joint< DataType, dim >::zaxis.

template<class DataType , int dim>

Joint< DataType, dim >::Joint	(	PType	o,
		PType	z,
		PType	x,
		int	t
	)			[inline]

References cross3D(), normalize(), Joint< DataType, dim >::origin, Joint< DataType, dim >::setDefault(), Joint< DataType, dim >::type, Joint< DataType, dim >::xaxis, Joint< DataType, dim >::yaxis, and Joint< DataType, dim >::zaxis.

template<class DataType , int dim>

Joint< DataType, dim >::Joint	(	PType	o,
		PType	z,
		PType	x,
		int	t,
		std::vector< int >	cf
	)			[inline]

References Joint< DataType, dim >::CFidTag, cross3D(), normalize(), Joint< DataType, dim >::origin, Joint< DataType, dim >::setDefault(), Joint< DataType, dim >::type, Joint< DataType, dim >::xaxis, Joint< DataType, dim >::yaxis, and Joint< DataType, dim >::zaxis.

template<class DataType , int dim>

Joint< DataType, dim >::~Joint

(

)

[inline]

---

Member Function Documentation

template<class DataType , int dim>

virtual std::vector<int>& Joint< DataType, dim >::CFIdTag

(

)

[inline, virtual]

References Joint< DataType, dim >::CFidTag.

Referenced by DH_Chain< DataType, dim >::calcDHMat(), DH_Chain< DataType, dim >::calcNativeDHMat(), DH_Link< DataType, dim >::DH_Link(), and DH_Link< DataType, dim >::print().

template<class DataType , int dim>

virtual void Joint< DataType, dim >::Checkpointing

(

std::ofstream &

ofs

)

[inline, virtual]

References Joint< DataType, dim >::connectionId, Joint< DataType, dim >::connectionOrientation, Joint< DataType, dim >::origin, Joint< DataType, dim >::type, Joint< DataType, dim >::xaxis, Joint< DataType, dim >::yaxis, and Joint< DataType, dim >::zaxis.

Referenced by DH_Link< DataType, dim >::Checkpointing().

template<class DataType , int dim>

virtual PType Joint< DataType, dim >::getOrigin

(

)

[inline, virtual]

References Joint< DataType, dim >::origin.

template<class DataType , int dim>

virtual void Joint< DataType, dim >::Restart	(	std::ifstream &	ifs,
		int &	pos,
		double &	t,
		double &	dt
	)			[inline, virtual]

References Joint< DataType, dim >::connectionId, Joint< DataType, dim >::connectionOrientation, Joint< DataType, dim >::origin, Joint< DataType, dim >::type, Joint< DataType, dim >::xaxis, Joint< DataType, dim >::yaxis, and Joint< DataType, dim >::zaxis.

Referenced by DH_Link< DataType, dim >::Restart().

template<class DataType , int dim>

void Joint< DataType, dim >::setDefault

(

)

[inline]

References Joint< DataType, dim >::CFidTag, Joint< DataType, dim >::connectionId, Joint< DataType, dim >::connectionOrientation, Joint< DataType, dim >::origin, Joint< DataType, dim >::type, Joint< DataType, dim >::xaxis, Joint< DataType, dim >::yaxis, and Joint< DataType, dim >::zaxis.

Referenced by Joint< DataType, dim >::Joint().

template<class DataType , int dim>

void Joint< DataType, dim >::setId

(

int

v

)

[inline]

template<class DataType , int dim>

virtual void Joint< DataType, dim >::setOrigin

(

PType &

o

)

[inline, virtual]

References Joint< DataType, dim >::origin.

---

Friends And Related Function Documentation

template<class DataType , int dim>

friend class DH_Chain< DataType, dim > [friend]

template<class DataType , int dim>

friend class DH_Link< DataType, dim > [friend]

template<class DataType , int dim>

friend class Scene< DataType, dim > [friend]

template<class DataType , int dim>

friend class SceneBase< DataType, dim > [friend]

---

Member Data Documentation

template<class DataType , int dim>

std::vector<int> Joint< DataType, dim >::CFidTag [protected]

A std::vector of integers (+ for assemblies, - for parts) for the assemblies from base assembly to a part or assembly. CFidTag[ ] is the index number of the Assembly in the subAssemblyList of Assembly[]. idTag[] is the index number of the base Assembly in the Scene's assemblyList. Assembly index

Referenced by Joint< DataType, dim >::CFIdTag(), Joint< DataType, dim >::Joint(), and Joint< DataType, dim >::setDefault().

template<class DataType , int dim>

int Joint< DataType, dim >::CFidTag_size [protected]

template<class DataType , int dim>

int Joint< DataType, dim >::connectionId [protected]

Referenced by Joint< DataType, dim >::Checkpointing(), Joint< DataType, dim >::Joint(), Joint< DataType, dim >::Restart(), and Joint< DataType, dim >::setDefault().

template<class DataType , int dim>

int Joint< DataType, dim >::connectionOrientation [protected]

Referenced by Joint< DataType, dim >::Checkpointing(), Joint< DataType, dim >::Joint(), Joint< DataType, dim >::Restart(), and Joint< DataType, dim >::setDefault().

template<class DataType , int dim>

int Joint< DataType, dim >::id [protected]

index number in Scene jointList

Referenced by DH_Chain< DataType, dim >::AddJoint(), SceneBase< DataType, 3 >::GetCoordFrame(), and DH_Link< DataType, dim >::print().

template<class DataType , int dim>

PType Joint< DataType, dim >::origin [protected]

Referenced by DH_Link< DataType, dim >::calcDenavitHartenbergParam(), Joint< DataType, dim >::Checkpointing(), Joint< DataType, dim >::getOrigin(), Joint< DataType, dim >::Joint(), Joint< DataType, dim >::Restart(), Joint< DataType, dim >::setDefault(), and Joint< DataType, dim >::setOrigin().

template<class DataType , int dim>

int Joint< DataType, dim >::type [protected]

Referenced by DH_Link< DataType, dim >::actuate(), DH_Link< DataType, dim >::calcDenavitHartenbergMat(), Joint< DataType, dim >::Checkpointing(), DH_Link< DataType, dim >::DH_Link(), Joint< DataType, dim >::Joint(), DH_Link< DataType, dim >::print(), Joint< DataType, dim >::Restart(), Joint< DataType, dim >::setDefault(), and DH_Link< DataType, dim >::setJacobian().

template<class DataType , int dim>

PType Joint< DataType, dim >::xaxis [protected]

Referenced by DH_Link< DataType, dim >::calcDenavitHartenbergParam(), Joint< DataType, dim >::Checkpointing(), Joint< DataType, dim >::Joint(), Joint< DataType, dim >::Restart(), and Joint< DataType, dim >::setDefault().

template<class DataType , int dim>

PType Joint< DataType, dim >::yaxis [protected]

Referenced by Joint< DataType, dim >::Checkpointing(), Joint< DataType, dim >::Joint(), Joint< DataType, dim >::Restart(), and Joint< DataType, dim >::setDefault().

template<class DataType , int dim>

PType Joint< DataType, dim >::zaxis [protected]

Referenced by DH_Link< DataType, dim >::calcDenavitHartenbergParam(), Joint< DataType, dim >::Checkpointing(), Joint< DataType, dim >::Joint(), Joint< DataType, dim >::Restart(), Joint< DataType, dim >::setDefault(), and DH_Link< DataType, dim >::setJacobian().

---

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

• kernel/Joint.h