DegreeOfFreedom class is a proxy class for accessing single degrees of freedom (aka generalized coordinates) of the Skeleton. More...

#include <DegreeOfFreedom.hpp>

Inheritance diagram for dart::dynamics::DegreeOfFreedom:

Public Member Functions
	DegreeOfFreedom (const DegreeOfFreedom &)=delete

const std::string &	setName (const std::string &_name, bool _preserveName=true)
	Change the name of this DegreeOfFreedom. More...

const std::string &	getName () const
	Get the name of this DegreeOfFreedom. More...

void	preserveName (bool _preserve)
	Prevent Joint::updateDegreeOfFreedomNames() from changing the name of this degree of freedom. More...

bool	isNamePreserved () const
	Check whether DegreeOfFreedom::lockName(bool) is activate. More...

std::size_t	getIndexInSkeleton () const
	Get this DegreeOfFreedom's index within its Skeleton. More...

std::size_t	getIndexInTree () const
	Get this DegreeOfFreedom's index within its tree. More...

std::size_t	getIndexInJoint () const
	Get this DegreeOfFreedom's index within its Joint. More...

std::size_t	getTreeIndex () const
	Get the index of the tree that this DegreeOfFreedom belongs to. More...

Command
void	setCommand (double _command)
	Set the command of this DegreeOfFreedom. More...

double	getCommand () const
	Get the command of this DegreeOfFreedom. More...

void	resetCommand ()
	Set the command of this DegreeOfFreedom to zero. More...

Position
void	setPosition (double _position)
	Set the position of this DegreeOfFreedom. More...

double	getPosition () const
	Get the position of this DegreeOfFreedom. More...

void	setPositionLimits (double _lowerLimit, double _upperLimit)
	Set the position limits of this DegreeOfFreedom. More...

void	setPositionLimits (const std::pair< double, double > &_limits)
	Set the position limits of this DegreeOfFreedom. More...

std::pair< double, double >	getPositionLimits () const
	Get the position limits of this DegreeOfFreedom. More...

void	setPositionLowerLimit (double _limit)
	Set the lower position limit of this DegreeOfFreedom. More...

double	getPositionLowerLimit () const
	Get the lower position limit of this DegreeOfFreedom. More...

void	setPositionUpperLimit (double _limit)
	Set the upper position limit of this DegreeOfFreedom. More...

double	getPositionUpperLimit () const
	Get the upper position limit of this DegreeOfFreedom. More...

bool	isCyclic () const
	Get whether this DOF is cyclic. More...

bool	hasPositionLimit () const
	Get whether the position of this DegreeOfFreedom has limits. More...

void	resetPosition ()
	Set the position of this DegreeOfFreedom to zero. More...

void	setInitialPosition (double _initial)
	Change the position that resetPosition() will give to this DegreeOfFreedom. More...

double	getInitialPosition () const
	Get the position that resetPosition() will give to this DegreeOfFreedom. More...

Velocity
void	setVelocity (double _velocity)
	Set the velocity of this DegreeOfFreedom. More...

double	getVelocity () const
	Get the velocity of this DegreeOfFreedom. More...

void	setVelocityLimits (double _lowerLimit, double _upperLimit)
	Set the velocity limits of this DegreeOfFreedom. More...

void	setVelocityLimits (const std::pair< double, double > &_limits)
	Set the velocity limtis of this DegreeOfFreedom. More...

std::pair< double, double >	getVelocityLimits () const
	Get the velocity limits of this DegreeOfFreedom. More...

void	setVelocityLowerLimit (double _limit)
	Set the lower velocity limit of this DegreeOfFreedom. More...

double	getVelocityLowerLimit () const
	Get the lower velocity limit of this DegreeOfFreedom. More...

void	setVelocityUpperLimit (double _limit)
	Set the upper velocity limit of this DegreeOfFreedom. More...

double	getVelocityUpperLimit () const
	Get the upper Velocity limit of this DegreeOfFreedom. More...

void	resetVelocity ()
	Set the velocity of this DegreeOfFreedom to zero. More...

void	setInitialVelocity (double _initial)
	Change the velocity that resetVelocity() will give to this DegreeOfFreedom. More...

double	getInitialVelocity () const
	Get the velocity that resetVelocity() will give to this DegreeOfFreedom. More...

Acceleration
void	setAcceleration (double _acceleration)
	Set the acceleration of this DegreeOfFreedom. More...

double	getAcceleration () const
	Get the acceleration of this DegreeOfFreedom. More...

void	resetAcceleration ()
	Set the acceleration of this DegreeOfFreedom to zero. More...

void	setAccelerationLimits (double _lowerLimit, double _upperLimit)
	Set the acceleration limits of this DegreeOfFreedom. More...

void	setAccelerationLimits (const std::pair< double, double > &_limits)
	Set the acceleartion limits of this DegreeOfFreedom. More...

std::pair< double, double >	getAccelerationLimits () const
	Get the acceleration limits of this DegreeOfFreedom. More...

void	setAccelerationLowerLimit (double _limit)
	Set the lower acceleration limit of this DegreeOfFreedom. More...

double	getAccelerationLowerLimit () const
	Get the lower acceleration limit of this DegreeOfFreedom. More...

void	setAccelerationUpperLimit (double _limit)
	Set the upper acceleration limit of this DegreeOfFreedom. More...

double	getAccelerationUpperLimit () const
	Get the upper acceleration limit of this DegreeOfFreedom. More...

Force
void	setForce (double _force)
	Set the generalized force of this DegreeOfFreedom. More...

double	getForce () const
	Get the generalized force of this DegreeOfFreedom. More...

void	resetForce ()
	Set the generalized force of this DegreeOfFreedom to zero. More...

void	setForceLimits (double _lowerLimit, double _upperLimit)
	Set the generalized force limits of this DegreeOfFreedom. More...

void	setForceLimits (const std::pair< double, double > &_limits)
	Set the generalized force limits of this DegreeOfFreedom. More...

std::pair< double, double >	getForceLimits () const
	Get the generalized force limits of this DegreeOfFreedom. More...

void	setForceLowerLimit (double _limit)
	Set the lower generalized force limit of this DegreeOfFreedom. More...

double	getForceLowerLimit () const
	Get the lower generalized force limit of this DegreeOfFreedom. More...

void	setForceUpperLimit (double _limit)
	Set the upper generalized force limit of this DegreeOfFreedom. More...

double	getForceUpperLimit () const
	Get the upper generalized force limit of this DegreeOfFreedom. More...

Velocity change
void	setVelocityChange (double _velocityChange)
	Set the velocity change of this DegreeOfFreedom. More...

double	getVelocityChange () const
	Get the velocity change of this DegreeOfFreedom. More...

void	resetVelocityChange ()
	Set the velocity change of this DegreeOfFreedom to zero. More...

Constraint impulse
void	setConstraintImpulse (double _impulse)
	Set the constraint impulse of this generalized coordinate. More...

double	getConstraintImpulse () const
	Get the constraint impulse of this generalized coordinate. More...

void	resetConstraintImpulse ()
	Set the constraint impulse of this generalized coordinate to zero. More...

Passive forces - spring, viscous friction, Coulomb friction
void	setSpringStiffness (double _k)
	Set stiffness of the spring force for this generalized coordinate. More...

double	getSpringStiffness () const
	Get stiffness of the spring force for this generalized coordinate. More...

void	setRestPosition (double _q0)
	Set rest position for the spring force of this generalized coordinate. More...

double	getRestPosition () const
	Get rest position for the spring force of this generalized coordinate. More...

void	setDampingCoefficient (double _coeff)
	Set coefficient of damping (viscous friction) force for this generalized coordinate. More...

double	getDampingCoefficient () const
	Get coefficient of damping (viscous friction) force for this generalized coordinate. More...

void	setCoulombFriction (double _friction)
	Set Coulomb friction force for this generalized coordinate. More...

double	getCoulombFriction () const
	Get Coulomb friction force for this generalized coordinate. More...

Relationships
Joint *	getJoint ()
	Get the Joint that this DegreeOfFreedom belongs to. More...

const Joint *	getJoint () const
	Get the Joint that this DegreeOfFreedom belongs to. More...

SkeletonPtr	getSkeleton ()
	Get the Skeleton that this DegreeOfFreedom is inside of. More...

ConstSkeletonPtr	getSkeleton () const
	Get the Skeleton that this DegreeOfFreedom is inside of. More...

BodyNode *	getChildBodyNode ()
	Get the BodyNode downstream of this DegreeOfFreedom. More...

const BodyNode *	getChildBodyNode () const
	Get the BodyNode downstream of this DegreeOfFreedom. More...

BodyNode *	getParentBodyNode ()
	Get the BodyNode upstream of this DegreeOfFreedom. More...

const BodyNode *	getParentBodyNode () const
	Get the BodyNode upstream of this DegreeOfFreedom. More...

Protected Member Functions
	DegreeOfFreedom (Joint *_joint, std::size_t _indexInJoint)
	The constructor is protected so that only Joints can create DegreeOfFreedom classes. 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...

Protected Attributes
std::size_t	mIndexInJoint
	Index of this DegreeOfFreedom within its Joint. More...

std::size_t	mIndexInSkeleton
	Index of this DegreeOfFreedom within its Skeleton. More...

std::size_t	mIndexInTree
	Index of this DegreeOfFreedom within its tree. More...

Joint *	mJoint
	The joint that this DegreeOfFreedom belongs to. More...

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

Friends
class	Joint

template<class >
class	GenericJoint

class	Skeleton

Detailed Description

DegreeOfFreedom class is a proxy class for accessing single degrees of freedom (aka generalized coordinates) of the Skeleton.

Constructor & Destructor Documentation

◆ DegreeOfFreedom() [1/2]

dart::dynamics::DegreeOfFreedom::DegreeOfFreedom ( const DegreeOfFreedom & )

delete

◆ DegreeOfFreedom() [2/2]

dart::dynamics::DegreeOfFreedom::DegreeOfFreedom	(	Joint *	_joint,
		std::size_t	_indexInJoint
	)

protected

The constructor is protected so that only Joints can create DegreeOfFreedom classes.

Member Function Documentation

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ getAcceleration()

double dart::dynamics::DegreeOfFreedom::getAcceleration ( ) const

Get the acceleration of this DegreeOfFreedom.

◆ getAccelerationLimits()

std::pair< double, double > dart::dynamics::DegreeOfFreedom::getAccelerationLimits ( ) const

Get the acceleration limits of this DegreeOfFreedom.

◆ getAccelerationLowerLimit()

double dart::dynamics::DegreeOfFreedom::getAccelerationLowerLimit ( ) const

Get the lower acceleration limit of this DegreeOfFreedom.

◆ getAccelerationUpperLimit()

double dart::dynamics::DegreeOfFreedom::getAccelerationUpperLimit ( ) const

Get the upper acceleration limit of this DegreeOfFreedom.

◆ getChildBodyNode() [1/2]

BodyNode * dart::dynamics::DegreeOfFreedom::getChildBodyNode ( )

Get the BodyNode downstream of this DegreeOfFreedom.

◆ getChildBodyNode() [2/2]

const BodyNode * dart::dynamics::DegreeOfFreedom::getChildBodyNode ( ) const

Get the BodyNode downstream of this DegreeOfFreedom.

◆ getCommand()

double dart::dynamics::DegreeOfFreedom::getCommand ( ) const

Get the command of this DegreeOfFreedom.

◆ getConstraintImpulse()

double dart::dynamics::DegreeOfFreedom::getConstraintImpulse ( ) const

Get the constraint impulse of this generalized coordinate.

◆ getCoulombFriction()

double dart::dynamics::DegreeOfFreedom::getCoulombFriction ( ) const

Get Coulomb friction force for this generalized coordinate.

◆ getDampingCoefficient()

double dart::dynamics::DegreeOfFreedom::getDampingCoefficient ( ) const

Get coefficient of damping (viscous friction) force for this generalized coordinate.

◆ getForce()

double dart::dynamics::DegreeOfFreedom::getForce ( ) const

Get the generalized force of this DegreeOfFreedom.

◆ getForceLimits()

std::pair< double, double > dart::dynamics::DegreeOfFreedom::getForceLimits ( ) const

Get the generalized force limits of this DegreeOfFreedom.

◆ getForceLowerLimit()

double dart::dynamics::DegreeOfFreedom::getForceLowerLimit ( ) const

Get the lower generalized force limit of this DegreeOfFreedom.

◆ getForceUpperLimit()

double dart::dynamics::DegreeOfFreedom::getForceUpperLimit ( ) const

Get the upper generalized force limit of this DegreeOfFreedom.

◆ getIndexInJoint()

std::size_t dart::dynamics::DegreeOfFreedom::getIndexInJoint ( ) const

Get this DegreeOfFreedom's index within its Joint.

◆ getIndexInSkeleton()

std::size_t dart::dynamics::DegreeOfFreedom::getIndexInSkeleton ( ) const

Get this DegreeOfFreedom's index within its Skeleton.

◆ getIndexInTree()

std::size_t dart::dynamics::DegreeOfFreedom::getIndexInTree ( ) const

Get this DegreeOfFreedom's index within its tree.

◆ getInitialPosition()

double dart::dynamics::DegreeOfFreedom::getInitialPosition ( ) const

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

◆ getInitialVelocity()

double dart::dynamics::DegreeOfFreedom::getInitialVelocity ( ) const

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

◆ getJoint() [1/2]

Joint * dart::dynamics::DegreeOfFreedom::getJoint ( )

Get the Joint that this DegreeOfFreedom belongs to.

◆ getJoint() [2/2]

const Joint * dart::dynamics::DegreeOfFreedom::getJoint ( ) const

Get the Joint that this DegreeOfFreedom belongs to.

◆ getName()

const std::string & dart::dynamics::DegreeOfFreedom::getName ( ) const

Get the name of this DegreeOfFreedom.

DegreeOfFreedom's name will be automatically given by the joint it belongs to. Below is the naming policy:

GenericJoint<RealSpace>
Same name as the joint it belongs to.
GenericJoint<[multi_dof_joint_space]>
"[Joint_name]+[affix]" is used. The affix is determined according to the role they play in the joint. For example, suppose there's a TranslationalJoint named "trans_joint". Then the each dof to be named "trans_joint_x", "trans_joint_y", and "trans_joint_z".
ZeroDofJoint
ZeroDofJoint doesn't have dof.

The default name can be renamed by setName() as well.

◆ getParentBodyNode() [1/2]

BodyNode * dart::dynamics::DegreeOfFreedom::getParentBodyNode ( )

Get the BodyNode upstream of this DegreeOfFreedom.

◆ getParentBodyNode() [2/2]

const BodyNode * dart::dynamics::DegreeOfFreedom::getParentBodyNode ( ) const

Get the BodyNode upstream of this DegreeOfFreedom.

◆ getPosition()

double dart::dynamics::DegreeOfFreedom::getPosition ( ) const

Get the position of this DegreeOfFreedom.

◆ getPositionLimits()

std::pair< double, double > dart::dynamics::DegreeOfFreedom::getPositionLimits ( ) const

Get the position limits of this DegreeOfFreedom.

◆ getPositionLowerLimit()

double dart::dynamics::DegreeOfFreedom::getPositionLowerLimit ( ) const

Get the lower position limit of this DegreeOfFreedom.

◆ getPositionUpperLimit()

double dart::dynamics::DegreeOfFreedom::getPositionUpperLimit ( ) const

Get the upper position limit of this DegreeOfFreedom.

◆ getRestPosition()

double dart::dynamics::DegreeOfFreedom::getRestPosition ( ) const

Get rest position for the spring force of this generalized coordinate.

◆ getSkeleton() [1/2]

SkeletonPtr dart::dynamics::DegreeOfFreedom::getSkeleton ( )

Get the Skeleton that this DegreeOfFreedom is inside of.

◆ getSkeleton() [2/2]

ConstSkeletonPtr dart::dynamics::DegreeOfFreedom::getSkeleton ( ) const

Get the Skeleton that this DegreeOfFreedom is inside of.

◆ getSpringStiffness()

double dart::dynamics::DegreeOfFreedom::getSpringStiffness ( ) const

Get stiffness of the spring force for this generalized coordinate.

◆ getTreeIndex()

std::size_t dart::dynamics::DegreeOfFreedom::getTreeIndex ( ) const

Get the index of the tree that this DegreeOfFreedom belongs to.

◆ getVelocity()

double dart::dynamics::DegreeOfFreedom::getVelocity ( ) const

Get the velocity of this DegreeOfFreedom.

◆ getVelocityChange()

double dart::dynamics::DegreeOfFreedom::getVelocityChange ( ) const

Get the velocity change of this DegreeOfFreedom.

◆ getVelocityLimits()

std::pair< double, double > dart::dynamics::DegreeOfFreedom::getVelocityLimits ( ) const

Get the velocity limits of this DegreeOfFreedom.

◆ getVelocityLowerLimit()

double dart::dynamics::DegreeOfFreedom::getVelocityLowerLimit ( ) const

Get the lower velocity limit of this DegreeOfFreedom.

◆ getVelocityUpperLimit()

double dart::dynamics::DegreeOfFreedom::getVelocityUpperLimit ( ) const

Get the upper Velocity limit of this DegreeOfFreedom.

◆ hasPositionLimit()

bool dart::dynamics::DegreeOfFreedom::hasPositionLimit ( ) const

Get whether the position of this DegreeOfFreedom has limits.

◆ isCyclic()

bool dart::dynamics::DegreeOfFreedom::isCyclic ( ) const

Get whether this DOF is cyclic.

Return true if and only if an infinite number of DOF positions produce the same local transform. If this DOF is part of a multi-DOF joint, then producing a cycle may require altering the position of the Joint's other DOFs.

◆ isNamePreserved()

bool dart::dynamics::DegreeOfFreedom::isNamePreserved ( ) const

Check whether DegreeOfFreedom::lockName(bool) is activate.

◆ preserveName()

void dart::dynamics::DegreeOfFreedom::preserveName ( bool _preserve )

Prevent Joint::updateDegreeOfFreedomNames() from changing the name of this degree of freedom.

This is useful if you (the user) have customized the name for this DegreeOfFreedom and want to prevent DART from automatically updating its name if its parent Joint properties ever change.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ resetAcceleration()

void dart::dynamics::DegreeOfFreedom::resetAcceleration ( )

Set the acceleration of this DegreeOfFreedom to zero.

◆ resetCommand()

void dart::dynamics::DegreeOfFreedom::resetCommand ( )

Set the command of this DegreeOfFreedom to zero.

◆ resetConstraintImpulse()

void dart::dynamics::DegreeOfFreedom::resetConstraintImpulse ( )

Set the constraint impulse of this generalized coordinate to zero.

◆ resetForce()

void dart::dynamics::DegreeOfFreedom::resetForce ( )

Set the generalized force of this DegreeOfFreedom to zero.

◆ resetPosition()

void dart::dynamics::DegreeOfFreedom::resetPosition ( )

Set the position of this DegreeOfFreedom to zero.

◆ resetVelocity()

void dart::dynamics::DegreeOfFreedom::resetVelocity ( )

Set the velocity of this DegreeOfFreedom to zero.

◆ resetVelocityChange()

void dart::dynamics::DegreeOfFreedom::resetVelocityChange ( )

Set the velocity change of this DegreeOfFreedom to zero.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setAcceleration()

void dart::dynamics::DegreeOfFreedom::setAcceleration ( double _acceleration )

Set the acceleration of this DegreeOfFreedom.

◆ setAccelerationLimits() [1/2]

void dart::dynamics::DegreeOfFreedom::setAccelerationLimits ( const std::pair< double, double > & _limits )

Set the acceleartion limits of this DegreeOfFreedom.

◆ setAccelerationLimits() [2/2]

void dart::dynamics::DegreeOfFreedom::setAccelerationLimits	(	double	_lowerLimit,
		double	_upperLimit
	)

Set the acceleration limits of this DegreeOfFreedom.

◆ setAccelerationLowerLimit()

void dart::dynamics::DegreeOfFreedom::setAccelerationLowerLimit ( double _limit )

Set the lower acceleration limit of this DegreeOfFreedom.

◆ setAccelerationUpperLimit()

void dart::dynamics::DegreeOfFreedom::setAccelerationUpperLimit ( double _limit )

Set the upper acceleration limit of this DegreeOfFreedom.

◆ setCommand()

void dart::dynamics::DegreeOfFreedom::setCommand ( double _command )

Set the command of this DegreeOfFreedom.

◆ setConstraintImpulse()

void dart::dynamics::DegreeOfFreedom::setConstraintImpulse ( double _impulse )

Set the constraint impulse of this generalized coordinate.

◆ setCoulombFriction()

void dart::dynamics::DegreeOfFreedom::setCoulombFriction ( double _friction )

Set Coulomb friction force for this generalized coordinate.

◆ setDampingCoefficient()

void dart::dynamics::DegreeOfFreedom::setDampingCoefficient ( double _coeff )

Set coefficient of damping (viscous friction) force for this generalized coordinate.

◆ setForce()

void dart::dynamics::DegreeOfFreedom::setForce ( double _force )

Set the generalized force of this DegreeOfFreedom.

◆ setForceLimits() [1/2]

void dart::dynamics::DegreeOfFreedom::setForceLimits ( const std::pair< double, double > & _limits )

Set the generalized force limits of this DegreeOfFreedom.

◆ setForceLimits() [2/2]

void dart::dynamics::DegreeOfFreedom::setForceLimits	(	double	_lowerLimit,
		double	_upperLimit
	)

Set the generalized force limits of this DegreeOfFreedom.

◆ setForceLowerLimit()

void dart::dynamics::DegreeOfFreedom::setForceLowerLimit ( double _limit )

Set the lower generalized force limit of this DegreeOfFreedom.

◆ setForceUpperLimit()

void dart::dynamics::DegreeOfFreedom::setForceUpperLimit ( double _limit )

Set the upper generalized force limit of this DegreeOfFreedom.

◆ setInitialPosition()

void dart::dynamics::DegreeOfFreedom::setInitialPosition ( double _initial )

Change the position that resetPosition() will give to this DegreeOfFreedom.

◆ setInitialVelocity()

void dart::dynamics::DegreeOfFreedom::setInitialVelocity ( double _initial )

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

◆ setName()

const std::string & dart::dynamics::DegreeOfFreedom::setName	(	const std::string &	_name,
		bool	_preserveName = `true`
	)

Change the name of this DegreeOfFreedom.

The _preserveName argument will be passed to the preserveName(bool) function. Set _preserveName to true when customizing the name of the DegreeOfFreedom; that way the name will not be overwritten if the Joint name changes.

◆ setPosition()

void dart::dynamics::DegreeOfFreedom::setPosition ( double _position )

Set the position of this DegreeOfFreedom.

◆ setPositionLimits() [1/2]

void dart::dynamics::DegreeOfFreedom::setPositionLimits ( const std::pair< double, double > & _limits )

Set the position limits of this DegreeOfFreedom.

◆ setPositionLimits() [2/2]

void dart::dynamics::DegreeOfFreedom::setPositionLimits	(	double	_lowerLimit,
		double	_upperLimit
	)

Set the position limits of this DegreeOfFreedom.

◆ setPositionLowerLimit()

void dart::dynamics::DegreeOfFreedom::setPositionLowerLimit ( double _limit )

Set the lower position limit of this DegreeOfFreedom.

◆ setPositionUpperLimit()

void dart::dynamics::DegreeOfFreedom::setPositionUpperLimit ( double _limit )

Set the upper position limit of this DegreeOfFreedom.

◆ setRestPosition()

void dart::dynamics::DegreeOfFreedom::setRestPosition ( double _q0 )

Set rest position for the spring force of this generalized coordinate.

◆ setSpringStiffness()

void dart::dynamics::DegreeOfFreedom::setSpringStiffness ( double _k )

Set stiffness of the spring force for this generalized coordinate.

◆ setVelocity()

void dart::dynamics::DegreeOfFreedom::setVelocity ( double _velocity )

Set the velocity of this DegreeOfFreedom.

◆ setVelocityChange()

void dart::dynamics::DegreeOfFreedom::setVelocityChange ( double _velocityChange )

Set the velocity change of this DegreeOfFreedom.

◆ setVelocityLimits() [1/2]

void dart::dynamics::DegreeOfFreedom::setVelocityLimits ( const std::pair< double, double > & _limits )

Set the velocity limtis of this DegreeOfFreedom.

◆ setVelocityLimits() [2/2]

void dart::dynamics::DegreeOfFreedom::setVelocityLimits	(	double	_lowerLimit,
		double	_upperLimit
	)

Set the velocity limits of this DegreeOfFreedom.

◆ setVelocityLowerLimit()

void dart::dynamics::DegreeOfFreedom::setVelocityLowerLimit ( double _limit )

Set the lower velocity limit of this DegreeOfFreedom.

◆ setVelocityUpperLimit()

void dart::dynamics::DegreeOfFreedom::setVelocityUpperLimit ( double _limit )

Set the upper velocity limit of this DegreeOfFreedom.

Friends And Related Function Documentation

◆ GenericJoint

template<class >

friend class GenericJoint

friend

◆ Joint

friend class Joint

friend

◆ Skeleton

friend class Skeleton

friend

Member Data Documentation

◆ mIndexInJoint

std::size_t dart::dynamics::DegreeOfFreedom::mIndexInJoint

protected

Index of this DegreeOfFreedom within its Joint.

The index is determined when this DegreeOfFreedom is created by the Joint it belongs to. Note that the index should be unique within the Joint.

◆ mIndexInSkeleton

std::size_t dart::dynamics::DegreeOfFreedom::mIndexInSkeleton

protected

Index of this DegreeOfFreedom within its Skeleton.

◆ mIndexInTree

std::size_t dart::dynamics::DegreeOfFreedom::mIndexInTree

protected

Index of this DegreeOfFreedom within its tree.

◆ mJoint

Joint* dart::dynamics::DegreeOfFreedom::mJoint

protected

The joint that this DegreeOfFreedom belongs to.

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ DegreeOfFreedom() [1/2]

◆ DegreeOfFreedom() [2/2]

Member Function Documentation

◆ addObserver()

◆ getAcceleration()

◆ getAccelerationLimits()

◆ getAccelerationLowerLimit()

◆ getAccelerationUpperLimit()

◆ getChildBodyNode() [1/2]

◆ getChildBodyNode() [2/2]

◆ getCommand()

◆ getConstraintImpulse()

◆ getCoulombFriction()

◆ getDampingCoefficient()

◆ getForce()

◆ getForceLimits()

◆ getForceLowerLimit()

◆ getForceUpperLimit()

◆ getIndexInJoint()

◆ getIndexInSkeleton()

◆ getIndexInTree()

◆ getInitialPosition()

◆ getInitialVelocity()

◆ getJoint() [1/2]

◆ getJoint() [2/2]

◆ getName()

◆ getParentBodyNode() [1/2]

◆ getParentBodyNode() [2/2]

◆ getPosition()

◆ getPositionLimits()

◆ getPositionLowerLimit()

◆ getPositionUpperLimit()

◆ getRestPosition()

◆ getSkeleton() [1/2]

◆ getSkeleton() [2/2]

◆ getSpringStiffness()

◆ getTreeIndex()

◆ getVelocity()

◆ getVelocityChange()

◆ getVelocityLimits()

◆ getVelocityLowerLimit()

◆ getVelocityUpperLimit()

◆ hasPositionLimit()

◆ isCyclic()

◆ isNamePreserved()

◆ preserveName()

◆ removeObserver()

◆ resetAcceleration()

◆ resetCommand()

◆ resetConstraintImpulse()

◆ resetForce()

◆ resetPosition()

◆ resetVelocity()

◆ resetVelocityChange()

◆ sendDestructionNotification()

◆ setAcceleration()

◆ setAccelerationLimits() [1/2]

◆ setAccelerationLimits() [2/2]

◆ setAccelerationLowerLimit()

◆ setAccelerationUpperLimit()

◆ setCommand()

◆ setConstraintImpulse()

◆ setCoulombFriction()

◆ setDampingCoefficient()

◆ setForce()

◆ setForceLimits() [1/2]

◆ setForceLimits() [2/2]

◆ setForceLowerLimit()

◆ setForceUpperLimit()

◆ setInitialPosition()

◆ setInitialVelocity()

◆ setName()

◆ setPosition()

◆ setPositionLimits() [1/2]