dart::dynamics::RevoluteJoint Class Reference

class RevoluteJoint More...

#include <RevoluteJoint.hpp>

Inheritance diagram for dart::dynamics::RevoluteJoint:

Public Types
using	UniqueProperties = detail::RevoluteJointUniqueProperties
using	Properties = detail::RevoluteJointProperties
using	Base = detail::RevoluteJointBase
using	Impl = EmbedProperties< DerivedT, PropertiesDataT >
using	Derived = typename Impl::Derived
using	AspectPropertiesData = typename Impl::AspectPropertiesData
using	AspectProperties = typename Impl::AspectProperties
using	Aspect = typename Impl::Aspect

Public Member Functions
bool	hasRevoluteJointAspect () const
	Check if this Composite currently has RevoluteJointAspect .
Aspect *	getRevoluteJointAspect ()
	Get a(an) RevoluteJointAspect from this Composite.
const Aspect *	getRevoluteJointAspect () const
	Get a(an) RevoluteJointAspect from this Composite.
Aspect *	getRevoluteJointAspect (const bool createIfNull)
	Get a(an) RevoluteJointAspect from this Composite.
void	setRevoluteJointAspect (const Aspect *aspect)
	Make a clone of RevoluteJointAspect and place the clone into this Composite.
void	setRevoluteJointAspect (std::unique_ptr< Aspect > &&aspect)
	Use move semantics to place RevoluteJointAspect into this Composite.
template<typename... Args>
Aspect *	createRevoluteJointAspect (Args &&... args)
	Construct a(an) RevoluteJointAspect inside of this Composite.
void	removeRevoluteJointAspect ()
	Remove a(an) RevoluteJointAspect from this Composite.
std::unique_ptr< Aspect >	releaseRevoluteJointAspect ()
	Remove a(an) RevoluteJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted.
	RevoluteJoint (const RevoluteJoint &)=delete
virtual	~RevoluteJoint ()
	Destructor.
void	setProperties (const Properties &_properties)
	Set the Properties of this RevoluteJoint.
void	setProperties (const UniqueProperties &_properties)
	Set the Properties of this RevoluteJoint.
void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this RevoluteJoint.
Properties	getRevoluteJointProperties () const
	Get the Properties of this RevoluteJoint.
void	copy (const RevoluteJoint &_otherJoint)
	Copy the Properties of another RevoluteJoint.
void	copy (const RevoluteJoint *_otherJoint)
	Copy the Properties of another RevoluteJoint.
RevoluteJoint &	operator= (const RevoluteJoint &_otherJoint)
	Copy the Properties of another RevoluteJoint.
const std::string &	getType () const override
bool	isCyclic (std::size_t _index) const override
void	setAxis (const Eigen::Vector3d &_axis)
const Eigen::Vector3d &	getAxis () const
GenericJoint< math::R1Space >::JacobianMatrix	getRelativeJacobianStatic (const GenericJoint< math::R1Space >::Vector &positions) const override
const AspectProperties &	getAspectProperties () const

Static Public Member Functions
static const std::string &	getStaticType ()
	Get joint type for this class.

Protected Member Functions
	RevoluteJoint (const Properties &properties)
	Constructor called by Skeleton class.
Joint *	clone () const override
void	updateDegreeOfFreedomNames () override
void	updateRelativeTransform () const override
void	updateRelativeJacobian (bool _mandatory=true) const override
void	updateRelativeJacobianTimeDeriv () const override

Protected Attributes
AspectProperties	mAspectProperties
	Aspect::Properties data, directly accessible to your derived class.

Friends
class	Skeleton

Detailed Description

class RevoluteJoint

Member Typedef Documentation

Aspect

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Aspect = typename Impl::Aspect

inherited

AspectProperties

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::AspectProperties = typename Impl::AspectProperties

inherited

AspectPropertiesData

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::AspectPropertiesData = typename Impl::AspectPropertiesData

inherited

Base

using dart::dynamics::RevoluteJoint::Base = detail::RevoluteJointBase

Derived

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Derived = typename Impl::Derived

inherited

Impl

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Impl = EmbedProperties<DerivedT, PropertiesDataT>

inherited

Properties

using dart::dynamics::RevoluteJoint::Properties = detail::RevoluteJointProperties

UniqueProperties

using dart::dynamics::RevoluteJoint::UniqueProperties = detail::RevoluteJointUniqueProperties

Constructor & Destructor Documentation

RevoluteJoint() [1/2]

dart::dynamics::RevoluteJoint::RevoluteJoint ( const RevoluteJoint &  )

delete

~RevoluteJoint()

dart::dynamics::RevoluteJoint::~RevoluteJoint ( )

virtual

Destructor.

RevoluteJoint() [2/2]

dart::dynamics::RevoluteJoint::RevoluteJoint ( const Properties &  properties )

protected

Constructor called by Skeleton class.

Member Function Documentation

clone()

Joint * dart::dynamics::RevoluteJoint::clone ( ) const

overrideprotected

copy() [1/2]

void dart::dynamics::RevoluteJoint::copy

(

const RevoluteJoint &

_otherJoint

)

Copy the Properties of another RevoluteJoint.

copy() [2/2]

void dart::dynamics::RevoluteJoint::copy

(

const RevoluteJoint *

_otherJoint

)

Copy the Properties of another RevoluteJoint.

createRevoluteJointAspect()

template<typename... Args>

Aspect * dart::dynamics::RevoluteJoint::createRevoluteJointAspect ( Args &&...  args )

inline

Construct a(an) RevoluteJointAspect inside of this Composite.

getAspectProperties()

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

const AspectProperties & dart::common::EmbedProperties< DerivedT, PropertiesDataT >::getAspectProperties ( ) const

inlineinherited

getAxis()

const Eigen::Vector3d & dart::dynamics::RevoluteJoint::getAxis

(

)

const

getRelativeJacobianStatic()

GenericJoint< math::R1Space >::JacobianMatrix dart::dynamics::RevoluteJoint::getRelativeJacobianStatic ( const GenericJoint< math::R1Space >::Vector &  positions ) const

override

getRevoluteJointAspect() [1/3]

Aspect * dart::dynamics::RevoluteJoint::getRevoluteJointAspect ( )

inline

Get a(an) RevoluteJointAspect from this Composite.

getRevoluteJointAspect() [2/3]

const Aspect * dart::dynamics::RevoluteJoint::getRevoluteJointAspect ( ) const

inline

Get a(an) RevoluteJointAspect from this Composite.

getRevoluteJointAspect() [3/3]

Aspect * dart::dynamics::RevoluteJoint::getRevoluteJointAspect ( const bool  createIfNull )

inline

Get a(an) RevoluteJointAspect from this Composite.

If _createIfNull is true, then a(an) RevoluteJointAspect will be generated if one does not already exist.

getRevoluteJointProperties()

RevoluteJoint::Properties dart::dynamics::RevoluteJoint::getRevoluteJointProperties

(

)

const

Get the Properties of this RevoluteJoint.

getStaticType()

const std::string & dart::dynamics::RevoluteJoint::getStaticType ( )

static

Get joint type for this class.

getType()

const std::string & dart::dynamics::RevoluteJoint::getType ( ) const

override

hasRevoluteJointAspect()

bool dart::dynamics::RevoluteJoint::hasRevoluteJointAspect ( ) const

inline

Check if this Composite currently has RevoluteJointAspect .

isCyclic()

bool dart::dynamics::RevoluteJoint::isCyclic ( std::size_t  _index ) const

override

operator=()

RevoluteJoint & dart::dynamics::RevoluteJoint::operator=

(

const RevoluteJoint &

_otherJoint

)

Copy the Properties of another RevoluteJoint.

releaseRevoluteJointAspect()

std::unique_ptr< Aspect > dart::dynamics::RevoluteJoint::releaseRevoluteJointAspect ( )

inline

Remove a(an) RevoluteJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted.

This allows you to safely use move semantics to transfer a(an) RevoluteJointAspect between two Composites.

removeRevoluteJointAspect()

void dart::dynamics::RevoluteJoint::removeRevoluteJointAspect ( )

inline

Remove a(an) RevoluteJointAspect from this Composite.

setAspectProperties()

void dart::dynamics::RevoluteJoint::setAspectProperties

(

const AspectProperties &

properties

)

Set the AspectProperties of this RevoluteJoint.

setAxis()

void dart::dynamics::RevoluteJoint::setAxis

(

const Eigen::Vector3d &

_axis

)

setProperties() [1/2]

void dart::dynamics::RevoluteJoint::setProperties

(

const Properties &

_properties

)

Set the Properties of this RevoluteJoint.

setProperties() [2/2]

void dart::dynamics::RevoluteJoint::setProperties

(

const UniqueProperties &

_properties

)

Set the Properties of this RevoluteJoint.

setRevoluteJointAspect() [1/2]

void dart::dynamics::RevoluteJoint::setRevoluteJointAspect ( const Aspect *  aspect )

inline

Make a clone of RevoluteJointAspect and place the clone into this Composite.

If a(an) RevoluteJointAspect already exists in this Composite, the existing RevoluteJointAspect will be destroyed.

setRevoluteJointAspect() [2/2]

void dart::dynamics::RevoluteJoint::setRevoluteJointAspect ( std::unique_ptr< Aspect > &&  aspect )

inline

Use move semantics to place RevoluteJointAspect into this Composite.

If a(an) RevoluteJointAspect already exists in this Composite, the existing RevoluteJointAspect will be destroyed.

updateDegreeOfFreedomNames()

void dart::dynamics::RevoluteJoint::updateDegreeOfFreedomNames ( )

overrideprotected

updateRelativeJacobian()

void dart::dynamics::RevoluteJoint::updateRelativeJacobian ( bool  _mandatory = true ) const

overrideprotected

updateRelativeJacobianTimeDeriv()

void dart::dynamics::RevoluteJoint::updateRelativeJacobianTimeDeriv ( ) const

overrideprotected

updateRelativeTransform()

void dart::dynamics::RevoluteJoint::updateRelativeTransform ( ) const

overrideprotected

Friends And Related Symbol Documentation

Skeleton

friend class Skeleton

friend

Member Data Documentation

mAspectProperties

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

AspectProperties dart::common::EmbedProperties< DerivedT, PropertiesDataT >::mAspectProperties

protectedinherited

Aspect::Properties data, directly accessible to your derived class.