DART  6.10.1
dart::dynamics::detail::PlanarJointProperties Struct Reference

#include <PlanarJointAspect.hpp>

Inheritance diagram for dart::dynamics::detail::PlanarJointProperties:
dart::dynamics::detail::GenericJointProperties< ConfigSpaceT > dart::dynamics::detail::PlanarJointUniqueProperties dart::dynamics::detail::JointProperties dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >

Public Types

using EuclideanPoint = typename ConfigSpaceT::EuclideanPoint
 
using Vector = typename ConfigSpaceT::Vector
 
using BoolArray = std::array< bool, NumDofs >
 
using StringArray = std::array< std::string, NumDofs >
 

Public Member Functions

 PlanarJointProperties (const GenericJoint< math::R3Space >::Properties &genericJointProperties=GenericJoint< math::R3Space >::Properties(), const PlanarJointUniqueProperties &planarProperties=PlanarJointUniqueProperties())
 
virtual ~PlanarJointProperties ()=default
 
void setXYPlane ()
 Set plane type as XY-plane. More...
 
void setYZPlane ()
 Set plane type as YZ-plane. More...
 
void setZXPlane ()
 Set plane type as ZX-plane. More...
 
void setArbitraryPlane (const Eigen::Vector3d &_transAxis1, const Eigen::Vector3d &_transAxis2)
 Set plane type as arbitrary plane with two orthogonal translational axes. More...
 

Static Public Member Functions

template<typename... Args>
static std::shared_ptr< PlanarJointPropertiescreateShared (Args &&... args)
 

Public Attributes

std::string mName
 Joint name. More...
 
Eigen::Isometry3d mT_ParentBodyToJoint
 Transformation from parent BodyNode to this Joint. More...
 
Eigen::Isometry3d mT_ChildBodyToJoint
 Transformation from child BodyNode to this Joint. More...
 
bool mIsPositionLimitEnforced
 True if the joint position or velocity limits should be enforced in dynamic simulation. More...
 
ActuatorType mActuatorType
 Actuator type. More...
 
const JointmMimicJoint
 Mimic joint. More...
 
double mMimicMultiplier
 Mimic joint properties. More...
 
double mMimicOffset
 
EuclideanPoint mPositionLowerLimits
 Lower limit of position. More...
 
EuclideanPoint mPositionUpperLimits
 Upper limit of position. More...
 
EuclideanPoint mInitialPositions
 Initial positions. More...
 
Vector mVelocityLowerLimits
 Min value allowed. More...
 
Vector mVelocityUpperLimits
 Max value allowed. More...
 
Vector mInitialVelocities
 Initial velocities. More...
 
Vector mAccelerationLowerLimits
 Min value allowed. More...
 
Vector mAccelerationUpperLimits
 upper limit of generalized acceleration More...
 
Vector mForceLowerLimits
 Min value allowed. More...
 
Vector mForceUpperLimits
 Max value allowed. More...
 
Vector mSpringStiffnesses
 Joint spring stiffness. More...
 
EuclideanPoint mRestPositions
 Rest joint position for joint spring. More...
 
Vector mDampingCoefficients
 Joint damping coefficient. More...
 
Vector mFrictions
 Joint Coulomb friction. More...
 
BoolArray mPreserveDofNames
 True if the name of the corresponding DOF is not allowed to be overwritten. More...
 
StringArray mDofNames
 The name of the DegreesOfFreedom for this Joint. More...
 
PlaneType mPlaneType
 Plane type. More...
 
Eigen::Vector3d mTransAxis1
 First translational axis. More...
 
Eigen::Vector3d mTransAxis2
 Second translational axis. More...
 
Eigen::Vector3d mRotAxis
 Rotational axis. More...
 

Static Public Attributes

constexpr static std::size_t NumDofs = ConfigSpaceT::NumDofs
 

Member Typedef Documentation

◆ BoolArray

template<class ConfigSpaceT >
using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::BoolArray = std::array<bool, NumDofs>
inherited

◆ EuclideanPoint

template<class ConfigSpaceT >
using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::EuclideanPoint = typename ConfigSpaceT::EuclideanPoint
inherited

◆ StringArray

template<class ConfigSpaceT >
using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::StringArray = std::array<std::string, NumDofs>
inherited

◆ Vector

template<class ConfigSpaceT >
using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::Vector = typename ConfigSpaceT::Vector
inherited

Constructor & Destructor Documentation

◆ PlanarJointProperties()

dart::dynamics::detail::PlanarJointProperties::PlanarJointProperties ( const GenericJoint< math::R3Space >::Properties &  genericJointProperties = GenericJoint<math::R3Space>::Properties(),
const PlanarJointUniqueProperties planarProperties = PlanarJointUniqueProperties() 
)

◆ ~PlanarJointProperties()

virtual dart::dynamics::detail::PlanarJointProperties::~PlanarJointProperties ( )
virtualdefault

Member Function Documentation

◆ createShared()

template<typename... Args>
static std::shared_ptr< PlanarJointProperties > dart::dynamics::detail::PlanarJointProperties::createShared ( Args &&...  args)
inlinestatic

Create shared instance of this class

◆ setArbitraryPlane()

void dart::dynamics::detail::PlanarJointUniqueProperties::setArbitraryPlane ( const Eigen::Vector3d &  _transAxis1,
const Eigen::Vector3d &  _transAxis2 
)
inherited

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

◆ setXYPlane()

void dart::dynamics::detail::PlanarJointUniqueProperties::setXYPlane ( )
inherited

Set plane type as XY-plane.

◆ setYZPlane()

void dart::dynamics::detail::PlanarJointUniqueProperties::setYZPlane ( )
inherited

Set plane type as YZ-plane.

◆ setZXPlane()

void dart::dynamics::detail::PlanarJointUniqueProperties::setZXPlane ( )
inherited

Set plane type as ZX-plane.

Member Data Documentation

◆ mAccelerationLowerLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mAccelerationLowerLimits
inherited

Min value allowed.

◆ mAccelerationUpperLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mAccelerationUpperLimits
inherited

upper limit of generalized acceleration

◆ mActuatorType

ActuatorType dart::dynamics::detail::JointProperties::mActuatorType
inherited

Actuator type.

◆ mDampingCoefficients

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mDampingCoefficients
inherited

Joint damping coefficient.

◆ mDofNames

template<class ConfigSpaceT >
StringArray dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mDofNames
inherited

The name of the DegreesOfFreedom for this Joint.

◆ mForceLowerLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mForceLowerLimits
inherited

Min value allowed.

◆ mForceUpperLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mForceUpperLimits
inherited

Max value allowed.

◆ mFrictions

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mFrictions
inherited

Joint Coulomb friction.

◆ mInitialPositions

template<class ConfigSpaceT >
EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mInitialPositions
inherited

Initial positions.

◆ mInitialVelocities

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mInitialVelocities
inherited

Initial velocities.

◆ mIsPositionLimitEnforced

bool dart::dynamics::detail::JointProperties::mIsPositionLimitEnforced
inherited

True if the joint position or velocity limits should be enforced in dynamic simulation.

◆ mMimicJoint

const Joint* dart::dynamics::detail::JointProperties::mMimicJoint
inherited

Mimic joint.

◆ mMimicMultiplier

double dart::dynamics::detail::JointProperties::mMimicMultiplier
inherited

Mimic joint properties.

◆ mMimicOffset

double dart::dynamics::detail::JointProperties::mMimicOffset
inherited

◆ mName

std::string dart::dynamics::detail::JointProperties::mName
inherited

Joint name.

◆ mPlaneType

PlaneType dart::dynamics::detail::PlanarJointUniqueProperties::mPlaneType
inherited

Plane type.

◆ mPositionLowerLimits

template<class ConfigSpaceT >
EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mPositionLowerLimits
inherited

Lower limit of position.

◆ mPositionUpperLimits

template<class ConfigSpaceT >
EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mPositionUpperLimits
inherited

Upper limit of position.

◆ mPreserveDofNames

template<class ConfigSpaceT >
BoolArray dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mPreserveDofNames
inherited

True if the name of the corresponding DOF is not allowed to be overwritten.

◆ mRestPositions

template<class ConfigSpaceT >
EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mRestPositions
inherited

Rest joint position for joint spring.

◆ mRotAxis

Eigen::Vector3d dart::dynamics::detail::PlanarJointUniqueProperties::mRotAxis
inherited

Rotational axis.

◆ mSpringStiffnesses

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mSpringStiffnesses
inherited

Joint spring stiffness.

◆ mT_ChildBodyToJoint

Eigen::Isometry3d dart::dynamics::detail::JointProperties::mT_ChildBodyToJoint
inherited

Transformation from child BodyNode to this Joint.

◆ mT_ParentBodyToJoint

Eigen::Isometry3d dart::dynamics::detail::JointProperties::mT_ParentBodyToJoint
inherited

Transformation from parent BodyNode to this Joint.

◆ mTransAxis1

Eigen::Vector3d dart::dynamics::detail::PlanarJointUniqueProperties::mTransAxis1
inherited

First translational axis.

◆ mTransAxis2

Eigen::Vector3d dart::dynamics::detail::PlanarJointUniqueProperties::mTransAxis2
inherited

Second translational axis.

◆ mVelocityLowerLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mVelocityLowerLimits
inherited

Min value allowed.

◆ mVelocityUpperLimits

template<class ConfigSpaceT >
Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mVelocityUpperLimits
inherited

Max value allowed.

◆ NumDofs

template<class ConfigSpaceT >
constexpr std::size_t dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::NumDofs = ConfigSpaceT::NumDofs
staticconstexprinherited