PlanarJoint represents a 3-dof joint, which has two orthogonal translational axes and one rotational axis. More...

#include <PlanarJoint.hpp>

Inheritance diagram for dart::dynamics::PlanarJoint:

Public Types
using	PlaneType = detail::PlaneType

using	UniqueProperties = detail::PlanarJointUniqueProperties

using	Properties = detail::PlanarJointProperties

using	Base = GenericJoint< math::R3Space >

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	hasPlanarJointAspect () const
	Check if this Composite currently has PlanarJointAspect . More...

Aspect *	getPlanarJointAspect ()
	Get a(an) PlanarJointAspect from this Composite. More...

const Aspect *	getPlanarJointAspect () const
	Get a(an) PlanarJointAspect from this Composite. More...

Aspect *	getPlanarJointAspect (const bool createIfNull)
	Get a(an) PlanarJointAspect from this Composite. More...

void	setPlanarJointAspect (const Aspect *aspect)
	Make a clone of PlanarJointAspect and place the clone into this Composite. More...

void	setPlanarJointAspect (std::unique_ptr< Aspect > &&aspect)
	Use move semantics to place PlanarJointAspect into this Composite. More...

template<typename... Args>
Aspect *	createPlanarJointAspect (Args &&... args)
	Construct a(an) PlanarJointAspect inside of this Composite. More...

void	removePlanarJointAspect ()
	Remove a(an) PlanarJointAspect from this Composite. More...

std::unique_ptr< Aspect >	releasePlanarJointAspect ()
	Remove a(an) PlanarJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted. More...

	PlanarJoint (const PlanarJoint &)=delete

virtual	~PlanarJoint ()
	Destructor. More...

void	setProperties (const Properties &_properties)
	Set the Properties of this PlanarJoint. More...

void	setProperties (const UniqueProperties &_properties)
	Set the Properties of this PlanarJoint. More...

void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this PlanarJoint. More...

Properties	getPlanarJointProperties () const
	Get the Properties of this PlanarJoint. More...

void	copy (const PlanarJoint &_otherJoint)
	Copy the Properties of another PlanarJoint. More...

void	copy (const PlanarJoint *_otherJoint)
	Copy the Properties of another PlanarJoint. More...

PlanarJoint &	operator= (const PlanarJoint &_otherJoint)
	Same as copy(const PlanarJoint&) More...

const std::string &	getType () const override

bool	isCyclic (std::size_t _index) const override

void	setXYPlane (bool _renameDofs=true)
	Set plane type as XY-plane. More...

void	setYZPlane (bool _renameDofs=true)
	Set plane type as YZ-plane. More...

void	setZXPlane (bool _renameDofs=true)
	Set plane type as ZX-plane. More...

void	setArbitraryPlane (const Eigen::Vector3d &_transAxis1, const Eigen::Vector3d &_transAxis2, bool _renameDofs=true)
	Set plane type as arbitrary plane with two orthogonal translational axes. More...

PlaneType	getPlaneType () const
	Return plane type. More...

const Eigen::Vector3d &	getRotationalAxis () const
	Return rotational axis. More...

const Eigen::Vector3d &	getTranslationalAxis1 () const
	Return first translational axis. More...

const Eigen::Vector3d &	getTranslationalAxis2 () const
	Return second translational axis. More...

Eigen::Matrix< double, 6, 3 >	getRelativeJacobianStatic (const Eigen::Vector3d &_positions) const override

const AspectProperties &	getAspectProperties () const

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

Protected Member Functions
	PlanarJoint (const Properties &properties)
	Constructor called by Skeleton class. More...

Joint *	clone () const override

void	updateDegreeOfFreedomNames () override
	Set the names of this joint's DegreesOfFreedom. More...

void	updateRelativeTransform () const override

void	updateRelativeJacobian (bool=true) const override

void	updateRelativeJacobianTimeDeriv () const override

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

Friends
class	Skeleton

Detailed Description

PlanarJoint represents a 3-dof joint, which has two orthogonal translational axes and one rotational axis.

First and second coordiantes represent translation along first and second translational axes, respectively. Third coordinate represents rotation along rotational axis.

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::PlanarJoint::Base = GenericJoint<math::R3Space>

◆ 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

◆ PlaneType

using dart::dynamics::PlanarJoint::PlaneType = detail::PlaneType

◆ Properties

using dart::dynamics::PlanarJoint::Properties = detail::PlanarJointProperties

◆ UniqueProperties

using dart::dynamics::PlanarJoint::UniqueProperties = detail::PlanarJointUniqueProperties

Constructor & Destructor Documentation

◆ PlanarJoint() [1/2]

dart::dynamics::PlanarJoint::PlanarJoint ( const PlanarJoint & )

delete

◆ ~PlanarJoint()

dart::dynamics::PlanarJoint::~PlanarJoint ( )

virtual

Destructor.

◆ PlanarJoint() [2/2]

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

protected

Constructor called by Skeleton class.

Member Function Documentation

◆ clone()

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

overrideprotected

◆ copy() [1/2]

void dart::dynamics::PlanarJoint::copy ( const PlanarJoint & _otherJoint )

Copy the Properties of another PlanarJoint.

◆ copy() [2/2]

void dart::dynamics::PlanarJoint::copy ( const PlanarJoint * _otherJoint )

Copy the Properties of another PlanarJoint.

◆ createPlanarJointAspect()

template<typename... Args>

Aspect* dart::dynamics::PlanarJoint::createPlanarJointAspect ( Args &&... args )

inline

Construct a(an) PlanarJointAspect inside of this Composite.

◆ getAspectProperties()

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

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

inlineinherited

◆ getPlanarJointAspect() [1/3]

Aspect* dart::dynamics::PlanarJoint::getPlanarJointAspect ( )

inline

Get a(an) PlanarJointAspect from this Composite.

◆ getPlanarJointAspect() [2/3]

const Aspect* dart::dynamics::PlanarJoint::getPlanarJointAspect ( ) const

inline

Get a(an) PlanarJointAspect from this Composite.

◆ getPlanarJointAspect() [3/3]

Aspect* dart::dynamics::PlanarJoint::getPlanarJointAspect ( const bool createIfNull )

inline

Get a(an) PlanarJointAspect from this Composite.

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

◆ getPlanarJointProperties()

PlanarJoint::Properties dart::dynamics::PlanarJoint::getPlanarJointProperties ( ) const

Get the Properties of this PlanarJoint.

◆ getPlaneType()

PlanarJoint::PlaneType dart::dynamics::PlanarJoint::getPlaneType ( ) const

Return plane type.

◆ getRelativeJacobianStatic()

Eigen::Matrix< double, 6, 3 > dart::dynamics::PlanarJoint::getRelativeJacobianStatic ( const Eigen::Vector3d & _positions ) const

override

◆ getRotationalAxis()

const Eigen::Vector3d & dart::dynamics::PlanarJoint::getRotationalAxis ( ) const

Return rotational axis.

◆ getStaticType()

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

static

Get joint type for this class.

◆ getTranslationalAxis1()

const Eigen::Vector3d & dart::dynamics::PlanarJoint::getTranslationalAxis1 ( ) const

Return first translational axis.

◆ getTranslationalAxis2()

const Eigen::Vector3d & dart::dynamics::PlanarJoint::getTranslationalAxis2 ( ) const

Return second translational axis.

◆ getType()

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

override

◆ hasPlanarJointAspect()

bool dart::dynamics::PlanarJoint::hasPlanarJointAspect ( ) const

inline

Check if this Composite currently has PlanarJointAspect .

◆ isCyclic()

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

override

◆ operator=()

PlanarJoint & dart::dynamics::PlanarJoint::operator= ( const PlanarJoint & _otherJoint )

Same as copy(const PlanarJoint&)

◆ releasePlanarJointAspect()

std::unique_ptr< Aspect > dart::dynamics::PlanarJoint::releasePlanarJointAspect ( )

inline

Remove a(an) PlanarJointAspect 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) PlanarJointAspect between two Composites.

◆ removePlanarJointAspect()

void dart::dynamics::PlanarJoint::removePlanarJointAspect ( )

inline

Remove a(an) PlanarJointAspect from this Composite.

◆ setArbitraryPlane()

void dart::dynamics::PlanarJoint::setArbitraryPlane	(	const Eigen::Vector3d &	_transAxis1,
		const Eigen::Vector3d &	_transAxis2,
		bool	_renameDofs = `true`
	)

Set plane type as arbitrary plane with two orthogonal translational axes.

Parameters

[in]	_transAxis1	An orthogonal translational axis
[in]	_transAxis2	Another orthogonal translation axis
[in]	_renameDofs	If true, the names of dofs in this joint will be renmaed according to the plane type.

◆ setAspectProperties()

void dart::dynamics::PlanarJoint::setAspectProperties ( const AspectProperties & properties )

Set the AspectProperties of this PlanarJoint.

◆ setPlanarJointAspect() [1/2]

void dart::dynamics::PlanarJoint::setPlanarJointAspect ( const Aspect * aspect )

inline

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

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

◆ setPlanarJointAspect() [2/2]

void dart::dynamics::PlanarJoint::setPlanarJointAspect ( std::unique_ptr< Aspect > && aspect )

inline

Use move semantics to place PlanarJointAspect into this Composite.

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

◆ setProperties() [1/2]

void dart::dynamics::PlanarJoint::setProperties ( const Properties & _properties )

Set the Properties of this PlanarJoint.

◆ setProperties() [2/2]

void dart::dynamics::PlanarJoint::setProperties ( const UniqueProperties & _properties )

Set the Properties of this PlanarJoint.

◆ setXYPlane()

void dart::dynamics::PlanarJoint::setXYPlane ( bool _renameDofs = true )

Set plane type as XY-plane.

Parameters

[in] _renameDofs If true, the names of dofs in this joint will be renmaed according to the plane type.

◆ setYZPlane()

void dart::dynamics::PlanarJoint::setYZPlane ( bool _renameDofs = true )

Set plane type as YZ-plane.

Parameters

[in] _renameDofs If true, the names of dofs in this joint will be renmaed according to the plane type.

◆ setZXPlane()

void dart::dynamics::PlanarJoint::setZXPlane ( bool _renameDofs = true )

Set plane type as ZX-plane.

Parameters

[in] _renameDofs If true, the names of dofs in this joint will be renmaed according to the plane type.

◆ updateDegreeOfFreedomNames()

void dart::dynamics::PlanarJoint::updateDegreeOfFreedomNames ( )

overrideprotected

Set the names of this joint's DegreesOfFreedom.

Used during construction and when the Plane type is changed.

◆ updateRelativeJacobian()

void dart::dynamics::PlanarJoint::updateRelativeJacobian ( bool = true ) const

overrideprotected

◆ updateRelativeJacobianTimeDeriv()

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

overrideprotected

◆ updateRelativeTransform()

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

overrideprotected

Friends And Related Function 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.

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ Base

◆ Derived

◆ Impl

◆ PlaneType

◆ Properties

◆ UniqueProperties

Constructor & Destructor Documentation

◆ PlanarJoint() [1/2]

◆ ~PlanarJoint()

◆ PlanarJoint() [2/2]

Member Function Documentation

◆ clone()

◆ copy() [1/2]

◆ copy() [2/2]

◆ createPlanarJointAspect()

◆ getAspectProperties()

◆ getPlanarJointAspect() [1/3]

◆ getPlanarJointAspect() [2/3]

◆ getPlanarJointAspect() [3/3]

◆ getPlanarJointProperties()

◆ getPlaneType()

◆ getRelativeJacobianStatic()

◆ getRotationalAxis()

◆ getStaticType()

◆ getTranslationalAxis1()

◆ getTranslationalAxis2()

◆ getType()

◆ hasPlanarJointAspect()

◆ isCyclic()

◆ operator=()

◆ releasePlanarJointAspect()

◆ removePlanarJointAspect()

◆ setArbitraryPlane()

◆ setAspectProperties()

◆ setPlanarJointAspect() [1/2]

◆ setPlanarJointAspect() [2/2]

◆ setProperties() [1/2]

◆ setProperties() [2/2]

◆ setXYPlane()

◆ setYZPlane()

◆ setZXPlane()

◆ updateDegreeOfFreedomNames()

◆ updateRelativeJacobian()

◆ updateRelativeJacobianTimeDeriv()

◆ updateRelativeTransform()

Friends And Related Function Documentation

◆ Skeleton

Member Data Documentation

◆ mAspectProperties