#include <ZeroDofJoint.hpp>

Inheritance diagram for dart::dynamics::ZeroDofJoint:

Classes
struct	Properties

Public Types
using	CompositeProperties = common::Composite::Properties

using	Properties = detail::JointProperties

typedef detail::ActuatorType	ActuatorType

using	Derived = Joint

using	Aspect = common::EmbeddedPropertiesAspect< Derived, detail::JointProperties >

using	AspectProperties = typename Aspect::Properties

using	AspectPropertiesData = typename Aspect::PropertiesData

using	Base = common::RequiresAspect< Aspect >

Public Member Functions

ZeroDofJoint (const ZeroDofJoint &)=delete

virtual ~ZeroDofJoint ()

Destructor. More...

Properties getZeroDofJointProperties () const

Get the Properties of this ZeroDofJoint. More...

DegreeOfFreedom * getDof (std::size_t) override

Get an object to access the _index-th degree of freedom (generalized coordinate) of this Joint. More...

const DegreeOfFreedom * getDof (std::size_t) const override

Get an object to access the _index-th degree of freedom (generalized coordinate) of this Joint. More...

const std::string & setDofName (std::size_t, const std::string &, bool) override

Alternative to DegreeOfFreedom::setName() More...

void preserveDofName (std::size_t, bool) override

Alternative to DegreeOfFreedom::preserveName() More...

bool isDofNamePreserved (std::size_t) const override

Alternative to DegreeOfFreedom::isNamePreserved() More...

const std::string & getDofName (std::size_t) const override

Alternative to DegreeOfFreedom::getName() More...

std::size_t getNumDofs () const override

Get number of generalized coordinates. More...

std::size_t getIndexInSkeleton (std::size_t _index) const override

Get a unique index in skeleton of a generalized coordinate in this Joint. More...

std::size_t getIndexInTree (std::size_t _index) const override

Get a unique index in the kinematic tree of a generalized coordinate in this Joint. More...

void setCommand (std::size_t _index, double _command) override

Set a single command. More...

double getCommand (std::size_t _index) const override

Get a single command. More...

void setCommands (const Eigen::VectorXd &_commands) override

Set all commands for this Joint. More...

Eigen::VectorXd getCommands () const override

Get all commands for this Joint. More...

void resetCommands () override

Set all the commands for this Joint to zero. More...

void setPosition (std::size_t, double) override

Set the position of a single generalized coordinate. More...

double getPosition (std::size_t _index) const override

Get the position of a single generalized coordinate. More...

void setPositions (const Eigen::VectorXd &_positions) override

Set the positions of all generalized coordinates in this Joint. More...

Eigen::VectorXd getPositions () const override

Get the positions of all generalized coordinates in this Joint. More...

void setPositionLowerLimit (std::size_t _index, double _position) override

Set lower limit for position. More...

double getPositionLowerLimit (std::size_t _index) const override

Get lower limit for position. More...

void setPositionLowerLimits (const Eigen::VectorXd &lowerLimits) override

Set the position lower limits of all the generalized coordinates. More...

Eigen::VectorXd getPositionLowerLimits () const override

Get the position lower limits of all the generalized coordinates. More...

void setPositionUpperLimit (std::size_t index, double position) override

Set upper limit for position. More...

double getPositionUpperLimit (std::size_t index) const override

Get upper limit for position. More...

void setPositionUpperLimits (const Eigen::VectorXd &upperLimits) override

Set the position upper limits of all the generalized coordinates. More...

Eigen::VectorXd getPositionUpperLimits () const override

Get the position upper limits of all the generalized coordinates. More...

bool hasPositionLimit (std::size_t _index) const override

Get whether the position of a generalized coordinate has limits. More...

void resetPosition (std::size_t _index) override

Set the position of this generalized coordinate to its initial position. More...

void resetPositions () override

Set the positions of all generalized coordinates in this Joint to their initial positions. More...

void setInitialPosition (std::size_t _index, double _initial) override

Change the position that resetPositions() will give to this coordinate. More...

double getInitialPosition (std::size_t _index) const override

Get the position that resetPosition() will give to this coordinate. More...

void setInitialPositions (const Eigen::VectorXd &_initial) override

Change the positions that resetPositions() will give to this Joint's coordinates. More...

Eigen::VectorXd getInitialPositions () const override

Get the positions that resetPositions() will give to this Joint's coordinates. More...

void setVelocity (std::size_t _index, double _velocity) override

Set the velocity of a single generalized coordinate. More...

double getVelocity (std::size_t _index) const override

Get the velocity of a single generalized coordinate. More...

void setVelocities (const Eigen::VectorXd &_velocities) override

Set the velocities of all generalized coordinates in this Joint. More...

Eigen::VectorXd getVelocities () const override

Get the velocities of all generalized coordinates in this Joint. More...

void setVelocityLowerLimit (std::size_t _index, double _velocity) override

Set lower limit for velocity. More...

double getVelocityLowerLimit (std::size_t _index) const override

Get lower limit for velocity. More...

void setVelocityLowerLimits (const Eigen::VectorXd &lowerLimits) override

Set the velocity lower limits of all the generalized coordinates. More...

Eigen::VectorXd getVelocityLowerLimits () const override

Get the velocity lower limits of all the generalized coordinates. More...

void setVelocityUpperLimit (std::size_t _index, double _velocity) override

Set upper limit for velocity. More...

double getVelocityUpperLimit (std::size_t _index) const override

Get upper limit for velocity. More...

void setVelocityUpperLimits (const Eigen::VectorXd &upperLimits) override

Set the velocity upper limits of all the generalized coordinates. More...

Eigen::VectorXd getVelocityUpperLimits () const override

Get the velocity upper limits of all the generalized coordinates. More...

void resetVelocity (std::size_t _index) override

Set the velocity of a generalized coordinate in this Joint to its initial velocity. More...

void resetVelocities () override

Set the velocities of all generalized coordinates in this Joint to their initial velocities. More...

void setInitialVelocity (std::size_t _index, double _initial) override

Change the velocity that resetVelocity() will give to this coordinate. More...

double getInitialVelocity (std::size_t _index) const override

Get the velocity that resetVelocity() will give to this coordinate. More...

void setInitialVelocities (const Eigen::VectorXd &_initial) override

Change the velocities that resetVelocities() will give to this Joint's coordinates. More...

Eigen::VectorXd getInitialVelocities () const override

Get the velocities that resetVelocities() will give to this Joint's coordinates. More...

void setAcceleration (std::size_t _index, double _acceleration) override

Set the acceleration of a single generalized coordinate. More...

double getAcceleration (std::size_t _index) const override

Get the acceleration of a single generalized coordinate. More...

void setAccelerations (const Eigen::VectorXd &_accelerations) override

Set the accelerations of all generalized coordinates in this Joint. More...

Eigen::VectorXd getAccelerations () const override

Get the accelerations of all generalized coordinates in this Joint. More...

void resetAccelerations () override

Set the accelerations of all generalized coordinates in this Joint to zero. More...

void setAccelerationLowerLimit (std::size_t _index, double _acceleration) override

Set lower limit for acceleration. More...

double getAccelerationLowerLimit (std::size_t _index) const override

Get lower limit for acceleration. More...

void setAccelerationLowerLimits (const Eigen::VectorXd &lowerLimits) override

Set the acceleration upper limits of all the generalized coordinates. More...

Eigen::VectorXd getAccelerationLowerLimits () const override

Get the acceleration upper limits of all the generalized coordinates. More...

void setAccelerationUpperLimit (std::size_t _index, double _acceleration) override

Set upper limit for acceleration. More...

double getAccelerationUpperLimit (std::size_t _index) const override

Get upper limit for acceleration. More...

void setAccelerationUpperLimits (const Eigen::VectorXd &upperLimits) override

Set the acceleration upper limits of all the generalized coordinates. More...

Eigen::VectorXd getAccelerationUpperLimits () const override

Get the acceleration upper limits of all the generalized coordinates. More...

void setForce (std::size_t _index, double _force) override

Set the force of a single generalized coordinate. More...

double getForce (std::size_t _index) const override

Get the force of a single generalized coordinate. More...

void setForces (const Eigen::VectorXd &_forces) override

Set the forces of all generalized coordinates in this Joint. More...

Eigen::VectorXd getForces () const override

Get the forces of all generalized coordinates in this Joint. More...

void resetForces () override

Set the forces of all generalized coordinates in this Joint to zero. More...

void setForceLowerLimit (std::size_t _index, double _force) override

Set lower limit for force. More...

double getForceLowerLimit (std::size_t _index) const override

Get lower limit for force. More...

void setForceLowerLimits (const Eigen::VectorXd &lowerLimits) override

Set the force upper limits of all the generalized coordinates. More...

Eigen::VectorXd getForceLowerLimits () const override

Get the force upper limits of all the generalized coordinates. More...

void setForceUpperLimit (std::size_t _index, double _force) override

Set upper limit for force. More...

double getForceUpperLimit (std::size_t _index) const override

Get upper limit for force. More...

void setForceUpperLimits (const Eigen::VectorXd &upperLimits) override

Set the force upper limits of all the generalized coordinates. More...

Eigen::VectorXd getForceUpperLimits () const override

Get the force upper limits of all the generalized coordinates. More...

void setVelocityChange (std::size_t _index, double _velocityChange) override

Set a single velocity change. More...

double getVelocityChange (std::size_t _index) const override

Get a single velocity change. More...

void resetVelocityChanges () override

Set zero all the velocity change. More...

void setConstraintImpulse (std::size_t _index, double _impulse) override

Set a single constraint impulse. More...

double getConstraintImpulse (std::size_t _index) const override

Get a single constraint impulse. More...

void resetConstraintImpulses () override

Set zero all the constraint impulses. More...

void integratePositions (double _dt) override

Integrate positions using Euler method. More...

void integrateVelocities (double _dt) override

Integrate velocities using Euler method. More...

Eigen::VectorXd getPositionDifferences (const Eigen::VectorXd &_q2, const Eigen::VectorXd &_q1) const override

Return the difference of two generalized coordinates which are measured in the configuration space of this Skeleton. More...

double computePotentialEnergy () const override

Compute and return the potential energy. More...

Eigen::Vector6d getBodyConstraintWrench () const override

Get constraint wrench expressed in body node frame. More...

bool hasJointAspect () const

Check if this Composite currently has JointAspect . More...

Aspect * getJointAspect ()

Get a(an) JointAspect from this Composite. More...

const Aspect * getJointAspect () const

Get a(an) JointAspect from this Composite. More...

Aspect * getJointAspect (const bool createIfNull)

Get a(an) JointAspect from this Composite. More...

void setJointAspect (const Aspect *aspect)

Make a clone of JointAspect and place the clone into this Composite. More...

void setJointAspect (std::unique_ptr< Aspect > &&aspect)

Use move semantics to place JointAspect into this Composite. More...

template<typename... Args>

Aspect * createJointAspect (Args &&... args)

Construct a(an) JointAspect inside of this Composite. More...

void removeJointAspect ()

Remove a(an) JointAspect from this Composite. More...

std::unique_ptr< Aspect > releaseJointAspect ()

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

void setProperties (const Properties &properties)

Set the Properties of this Joint. More...

void setAspectProperties (const AspectProperties &properties)

Set the AspectProperties of this Joint. More...

const Properties & getJointProperties () const

Get the Properties of this Joint. More...

void copy (const Joint &_otherJoint)

Copy the properties of another Joint. More...

void copy (const Joint *_otherJoint)

Copy the properties of another Joint. More...

const std::string & setName (const std::string &_name, bool _renameDofs=true)

Set joint name and return the name. More...

const std::string & getName () const

Get joint name. More...

virtual const std::string & getType () const =0

Gets a string representing the joint type. More...

void setActuatorType (ActuatorType _actuatorType)

Set actuator type. More...

ActuatorType getActuatorType () const

Get actuator type. More...

void setMimicJoint (const Joint *_mimicJoint, double _mimicMultiplier=1.0, double _mimicOffset=0.0)

Set mimic joint. More...

const Joint * getMimicJoint () const

Get mimic joint. More...

double getMimicMultiplier () const

Get mimic joint multiplier. More...

double getMimicOffset () const

Get mimic joint offset. More...

bool isKinematic () const

Return true if this joint is kinematic joint. More...

bool isDynamic () const

Return true if this joint is dynamic joint. More...

BodyNode * getChildBodyNode ()

Get the child BodyNode of this Joint. More...

const BodyNode * getChildBodyNode () const

Get the (const) child BodyNode of this Joint. More...

BodyNode * getParentBodyNode ()

Get the parent BodyNode of this Joint. More...

const BodyNode * getParentBodyNode () const

Get the (const) parent BodyNode of this Joint. More...

SkeletonPtr getSkeleton ()

Get the Skeleton that this Joint belongs to. More...

std::shared_ptr< const Skeleton > getSkeleton () const

Get the (const) Skeleton that this Joint belongs to. More...

virtual void setTransformFromParentBodyNode (const Eigen::Isometry3d &_T)

Set transformation from parent body node to this joint. More...

virtual void setTransformFromChildBodyNode (const Eigen::Isometry3d &_T)

Set transformation from child body node to this joint. More...

const Eigen::Isometry3d & getTransformFromParentBodyNode () const

Get transformation from parent body node to this joint. More...

const Eigen::Isometry3d & getTransformFromChildBodyNode () const

Get transformation from child body node to this joint. More...

void setPositionLimitEnforced (bool enforced)

Sets whether enforcing joint position and velocity limits. More...

void setLimitEnforcement (bool enforced)

Sets whether enforcing joint position and velocity limits. More...

bool isPositionLimitEnforced () const

Returns whether enforcing joint position limit. More...

bool areLimitsEnforced () const

Returns whether enforcing joint position and velocity limits. More...

std::size_t getJointIndexInSkeleton () const

Get the index of this Joint within its Skeleton. More...

std::size_t getJointIndexInTree () const

Get the index of this Joint within its tree. More...

std::size_t getTreeIndex () const

Get the index of the tree that this Joint belongs to. More...

double getPotentialEnergy () const

Get potential energy. More...

const Eigen::Isometry3d & getLocalTransform () const

Deprecated. Use getRelativeTransform() instead. More...

const Eigen::Vector6d & getLocalSpatialVelocity () const

Deprecated. Use getLocalSpatialVelocity() instead. More...

const Eigen::Vector6d & getLocalSpatialAcceleration () const

Deprecated. Use getLocalSpatialAcceleration() instead. More...

const Eigen::Vector6d & getLocalPrimaryAcceleration () const

Deprecated. Use getLocalPrimaryAcceleration() instead. More...

const math::Jacobian getLocalJacobian () const

Deprecated. Use getRelativeJacobian() instead. More...

math::Jacobian getLocalJacobian (const Eigen::VectorXd &positions) const

Deprecated. Use getRelativeJacobian() instead. More...

const math::Jacobian getLocalJacobianTimeDeriv () const

Deprecated. Use getRelativeJacobianTimeDeriv() instead. More...

const Eigen::Isometry3d & getRelativeTransform () const

Get transform of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

const Eigen::Vector6d & getRelativeSpatialVelocity () const

Get spatial velocity of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

const Eigen::Vector6d & getRelativeSpatialAcceleration () const

Get spatial acceleration of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

const Eigen::Vector6d & getRelativePrimaryAcceleration () const

Get J * \( \ddot{q} \) of this joint. More...

virtual std::size_t incrementVersion ()

Increment the version for this object. More...

virtual std::size_t getVersion () const

Get the version number of this object. More...

const AspectProperties & getAspectProperties () const

Passive forces - spring, viscous friction, Coulomb friction

void setSpringStiffness (std::size_t _index, double _k) override

Set stiffness of joint spring force. More...

double getSpringStiffness (std::size_t _index) const override

Get stiffness of joint spring force. More...

void setRestPosition (std::size_t _index, double _q0) override

Set rest position of spring force. More...

double getRestPosition (std::size_t _index) const override

Get rest position of spring force. More...

void setDampingCoefficient (std::size_t _index, double _d) override

Set coefficient of joint damping (viscous friction) force. More...

double getDampingCoefficient (std::size_t _index) const override

Get coefficient of joint damping (viscous friction) force. More...

void setCoulombFriction (std::size_t _index, double _friction) override

Set joint Coulomb friction froce. More...

double getCoulombFriction (std::size_t _index) const override

Get joint Coulomb friction froce. More...

Position

virtual bool isCyclic (std::size_t _index) const =0

Get whether a generalized coordinate is cyclic. More...

Sanity Check

bool checkSanity (bool _printWarnings=true) const

Returns false if the initial position or initial velocity are outside of limits. More...

Update Notifiers

Get spring force

We apply spring force in implicit manner. The spring force is F = -(springStiffness * q(k+1)), where q(k+1) is approximated as q(k) + h * dq(k) * h^2 * ddq(k). Since, in the recursive forward dynamics algorithm, ddq(k) is unknown variable that we want to obtain as the result, the spring force here is just F = -springStiffness * (q(k) + h * dq(k)) and -springStiffness * h^2 * ddq(k) term is rearranged at the recursive forward dynamics algorithm, and it affects on the articulated inertia.

See also: BodyNode::updateArticulatedInertia(double).

Parameters

[in] _timeStep Time step used for approximating q(k+1). Get damping force

We apply the damping force in implicit manner. The damping force is F = -(dampingCoefficient * dq(k+1)), where dq(k+1) is approximated as dq(k) + h * ddq(k). Since, in the recursive forward dynamics algorithm, ddq(k) is unknown variable that we want to obtain as the result, the damping force here is just F = -(dampingCoefficient * dq(k)) and -dampingCoefficient * h * ddq(k) term is rearranged at the recursive forward dynamics algorithm, and it affects on the articulated inertia.

See also: BodyNode::updateArticulatedInertia(double).

void notifyPositionUpdate ()

Notify that a position has updated. More...

void notifyPositionUpdated ()

Notify that a position has updated. More...

void notifyVelocityUpdate ()

Notify that a velocity has updated. More...

void notifyVelocityUpdated ()

Notify that a velocity has updated. More...

void notifyAccelerationUpdate ()

Notify that an acceleration has updated. More...

void notifyAccelerationUpdated ()

Notify that an acceleration has updated. More...

Static Public Attributes
static constexpr ActuatorType	FORCE = detail::FORCE

static constexpr ActuatorType	PASSIVE = detail::PASSIVE

static constexpr ActuatorType	SERVO = detail::SERVO

static constexpr ActuatorType	MIMIC = detail::MIMIC

static constexpr ActuatorType	ACCELERATION = detail::ACCELERATION

static constexpr ActuatorType	VELOCITY = detail::VELOCITY

static constexpr ActuatorType	LOCKED = detail::LOCKED

static const ActuatorType	DefaultActuatorType = detail::DefaultActuatorType
	Default actuator type. More...

Protected Member Functions
	ZeroDofJoint ()
	Constructor called by inheriting classes. More...

void	registerDofs () override
	Called by the Skeleton class. More...

void	updateDegreeOfFreedomNames () override
	Update the names of the joint's degrees of freedom. More...

virtual Joint *	clone () const =0
	Create a clone of this Joint. More...

DegreeOfFreedom *	createDofPointer (std::size_t _indexInJoint)
	Create a DegreeOfFreedom pointer. More...

void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers. More...

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers. More...

void	setVersionDependentObject (VersionCounter *dependent)

Recursive dynamics routines
const math::Jacobian	getRelativeJacobian () const override
	Get spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

math::Jacobian	getRelativeJacobian (const Eigen::VectorXd &_positions) const override
	Get spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

const math::Jacobian	getRelativeJacobianTimeDeriv () const override
	Get time derivative of spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

void	addVelocityTo (Eigen::Vector6d &_vel) override
	Add joint velocity to _vel. More...

void	setPartialAccelerationTo (Eigen::Vector6d &_partialAcceleration, const Eigen::Vector6d &_childVelocity) override
	Set joint partial acceleration to _partialAcceleration. More...

void	addAccelerationTo (Eigen::Vector6d &_acc) override
	Add joint acceleration to _acc. More...

void	addVelocityChangeTo (Eigen::Vector6d &_velocityChange) override
	Add joint velocity change to _velocityChange. More...

void	addChildArtInertiaTo (Eigen::Matrix6d &_parentArtInertia, const Eigen::Matrix6d &_childArtInertia) override
	Add child's articulated inertia to parent's one. More...

void	addChildArtInertiaImplicitTo (Eigen::Matrix6d &_parentArtInertia, const Eigen::Matrix6d &_childArtInertia) override
	Add child's articulated inertia to parent's one. Forward dynamics routine. More...

void	updateInvProjArtInertia (const Eigen::Matrix6d &_artInertia) override
	Update inverse of projected articulated body inertia. More...

void	updateInvProjArtInertiaImplicit (const Eigen::Matrix6d &_artInertia, double _timeStep) override
	Forward dynamics routine. More...

void	addChildBiasForceTo (Eigen::Vector6d &_parentBiasForce, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasForce, const Eigen::Vector6d &_childPartialAcc) override
	Add child's bias force to parent's one. More...

void	addChildBiasImpulseTo (Eigen::Vector6d &_parentBiasImpulse, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasImpulse) override
	Add child's bias impulse to parent's one. More...

void	updateTotalForce (const Eigen::Vector6d &_bodyForce, double _timeStep) override
	Update joint total force. More...

void	updateTotalImpulse (const Eigen::Vector6d &_bodyImpulse) override
	Update joint total impulse. More...

void	resetTotalImpulses () override
	Set total impulses to zero. More...

void	updateAcceleration (const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_spatialAcc) override
	Update joint acceleration. More...

void	updateVelocityChange (const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_velocityChange) override
	Update joint velocity change. More...

void	updateForceID (const Eigen::Vector6d &_bodyForce, double _timeStep, bool _withDampingForces, bool _withSpringForces) override
	Update joint force for inverse dynamics. More...

void	updateForceFD (const Eigen::Vector6d &_bodyForce, double _timeStep, bool _withDampingForces, bool _withSpringForces) override
	Update joint force for forward dynamics. More...

void	updateImpulseID (const Eigen::Vector6d &_bodyImpulse) override
	Update joint impulses for inverse dynamics. More...

void	updateImpulseFD (const Eigen::Vector6d &_bodyImpulse) override
	Update joint impulses for forward dynamics. More...

void	updateConstrainedTerms (double _timeStep) override
	Update constrained terms for forward dynamics. More...

Recursive algorithm routines for equations of motion
void	addChildBiasForceForInvMassMatrix (Eigen::Vector6d &_parentBiasForce, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasForce) override
	Add child's bias force to parent's one. More...

void	addChildBiasForceForInvAugMassMatrix (Eigen::Vector6d &_parentBiasForce, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasForce) override
	Add child's bias force to parent's one. More...

void	updateTotalForceForInvMassMatrix (const Eigen::Vector6d &_bodyForce) override

void	getInvMassMatrixSegment (Eigen::MatrixXd &_invMassMat, const std::size_t _col, const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_spatialAcc) override

void	getInvAugMassMatrixSegment (Eigen::MatrixXd &_invMassMat, const std::size_t _col, const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_spatialAcc) override

void	addInvMassMatrixSegmentTo (Eigen::Vector6d &_acc) override

Eigen::VectorXd	getSpatialToGeneralized (const Eigen::Vector6d &_spatial) override

Recursive dynamics routines
void	updateLocalTransform () const
	Deprecated. Use updateRelativeTransform() instead. More...

void	updateLocalSpatialVelocity () const
	Deprecated. Use updateRelativeSpatialVelocity() instead. More...

void	updateLocalSpatialAcceleration () const
	Deprecated. Use updateRelativeSpatialAcceleration() instead. More...

void	updateLocalPrimaryAcceleration () const
	Deprecated. Use updateRelativePrimaryAcceleration() instead. More...

void	updateLocalJacobian (bool mandatory=true) const
	Deprecated. Use updateRelativeJacobian() instead. More...

void	updateLocalJacobianTimeDeriv () const
	Deprecated. Use updateRelativeJacobianTimeDeriv() instead. More...

virtual void	updateRelativeTransform () const =0
	Update transform of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

virtual void	updateRelativeSpatialVelocity () const =0
	Update spatial velocity of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

virtual void	updateRelativeSpatialAcceleration () const =0
	Update spatial acceleration of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

virtual void	updateRelativePrimaryAcceleration () const =0
	Update J * \( \ddot{q} \) of this joint. More...

virtual void	updateRelativeJacobian (bool mandatory=true) const =0
	Update spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

virtual void	updateRelativeJacobianTimeDeriv () const =0
	Update time derivative of spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

void	updateArticulatedInertia () const
	Tells the Skeleton to update the articulated inertia if it needs updating. More...

Protected Attributes
BodyNode *	mChildBodyNode
	Child BodyNode pointer that this Joint belongs to. More...

Eigen::Isometry3d	mT
	Relative transformation of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode frame. More...

Eigen::Vector6d	mSpatialVelocity
	Relative spatial velocity from parent BodyNode to child BodyNode where the velocity is expressed in child body Frame. More...

Eigen::Vector6d	mSpatialAcceleration
	Relative spatial acceleration from parent BodyNode to child BodyNode where the acceleration is expressed in the child body Frame. More...

Eigen::Vector6d	mPrimaryAcceleration
	J * q_dd. More...

bool	mNeedTransformUpdate
	True iff this joint's position has changed since the last call to getRelativeTransform() More...

bool	mNeedSpatialVelocityUpdate
	True iff this joint's position or velocity has changed since the last call to getRelativeSpatialVelocity() More...

bool	mNeedSpatialAccelerationUpdate
	True iff this joint's position, velocity, or acceleration has changed since the last call to getRelativeSpatialAcceleration() More...

bool	mNeedPrimaryAccelerationUpdate
	True iff this joint's position, velocity, or acceleration has changed since the last call to getRelativePrimaryAcceleration() More...

bool	mIsRelativeJacobianDirty
	True iff this joint's relative Jacobian has not been updated since the last position change. More...

bool	mIsRelativeJacobianTimeDerivDirty
	True iff this joint's relative Jacobian time derivative has not been updated since the last position or velocity change. More...

std::set< Observer * >	mObservers
	List of current Observers. More...

std::size_t	mVersion

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

Private Attributes
const std::string	emptyString
	Used by getDofName() More...

VersionCounter *	mDependent

Detailed Description

class ZeroDofJoint

Member Typedef Documentation

◆ ActuatorType

typedef detail::ActuatorType dart::dynamics::Joint::ActuatorType

inherited

◆ Aspect

using dart::common::EmbedProperties< Joint , detail::JointProperties >::Aspect = common::EmbeddedPropertiesAspect<Derived, detail::JointProperties >

inherited

◆ AspectProperties

using dart::common::EmbedProperties< Joint , detail::JointProperties >::AspectProperties = typename Aspect::Properties

inherited

◆ AspectPropertiesData

using dart::common::EmbedProperties< Joint , detail::JointProperties >::AspectPropertiesData = typename Aspect::PropertiesData

inherited

◆ Base

using dart::common::EmbedProperties< Joint , detail::JointProperties >::Base = common::RequiresAspect<Aspect>

inherited

◆ CompositeProperties

using dart::dynamics::Joint::CompositeProperties = common::Composite::Properties

inherited

◆ Derived

using dart::common::EmbedProperties< Joint , detail::JointProperties >::Derived = Joint

inherited

◆ Properties

using dart::dynamics::Joint::Properties = detail::JointProperties

inherited

Constructor & Destructor Documentation

◆ ZeroDofJoint() [1/2]

dart::dynamics::ZeroDofJoint::ZeroDofJoint ( const ZeroDofJoint & )

delete

◆ ~ZeroDofJoint()

dart::dynamics::ZeroDofJoint::~ZeroDofJoint ( )

virtual

Destructor.

◆ ZeroDofJoint() [2/2]

dart::dynamics::ZeroDofJoint::ZeroDofJoint ( )

protected

Constructor called by inheriting classes.

Member Function Documentation

◆ addAccelerationTo()

void dart::dynamics::ZeroDofJoint::addAccelerationTo ( Eigen::Vector6d & _acc )

overrideprotectedvirtual

Add joint acceleration to _acc.

[in]	_index	Index of joint axis.
[in]	_friction	Joint Coulomb friction froce given index.

[in]	_name	The specified joint name to be set.
[in]	_renameDofs	If true, the names of the joint's degrees of freedom will be updated by calling updateDegreeOfFreedomNames().

[in]	_bodyForce	Transmitting spatial body force from the parent BodyNode to the child BodyNode. The spatial force is expressed in the child BodyNode's frame.
[in]	_timeStep
[in]	_withDampingForces
[in]	_withSpringForces

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ActuatorType

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ Base

◆ CompositeProperties

◆ Derived

◆ Properties

Constructor & Destructor Documentation

◆ ZeroDofJoint() [1/2]

◆ ~ZeroDofJoint()

◆ ZeroDofJoint() [2/2]

Member Function Documentation

◆ addAccelerationTo()

◆ addChildArtInertiaImplicitTo()

◆ addChildArtInertiaTo()

◆ addChildBiasForceForInvAugMassMatrix()

◆ addChildBiasForceForInvMassMatrix()

◆ addChildBiasForceTo()

◆ addChildBiasImpulseTo()

◆ addInvMassMatrixSegmentTo()

◆ addObserver()

◆ addVelocityChangeTo()

◆ addVelocityTo()

◆ areLimitsEnforced()

◆ checkSanity()

◆ clone()

◆ computePotentialEnergy()

◆ copy() [1/2]

◆ copy() [2/2]

◆ createDofPointer()

◆ createJointAspect()

◆ getAcceleration()

◆ getAccelerationLowerLimit()

◆ getAccelerationLowerLimits()

◆ getAccelerations()

◆ getAccelerationUpperLimit()

◆ getAccelerationUpperLimits()

◆ getActuatorType()

◆ getAspectProperties()

◆ getBodyConstraintWrench()

◆ getChildBodyNode() [1/2]

◆ getChildBodyNode() [2/2]

◆ getCommand()

◆ getCommands()

◆ getConstraintImpulse()

◆ getCoulombFriction()

◆ getDampingCoefficient()

◆ getDof() [1/2]

◆ getDof() [2/2]

◆ getDofName()

◆ getForce()

◆ getForceLowerLimit()

◆ getForceLowerLimits()

◆ getForces()

◆ getForceUpperLimit()

◆ getForceUpperLimits()

◆ getIndexInSkeleton()

◆ getIndexInTree()

◆ getInitialPosition()

◆ getInitialPositions()

◆ getInitialVelocities()

◆ getInitialVelocity()

◆ getInvAugMassMatrixSegment()

◆ getInvMassMatrixSegment()

◆ getJointAspect() [1/3]

◆ getJointAspect() [2/3]

◆ getJointAspect() [3/3]

◆ getJointIndexInSkeleton()

◆ getJointIndexInTree()

◆ getJointProperties()