#include <EulerJoint.hpp>

Inheritance diagram for dart::dynamics::EulerJoint:

Public Types
using	AxisOrder = detail::AxisOrder

using	UniqueProperties = detail::EulerJointUniqueProperties

using	Properties = detail::EulerJointProperties

using	Base = detail::EulerJointBase

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	hasEulerJointAspect () const
	Check if this Composite currently has EulerJointAspect .

Aspect *	getEulerJointAspect ()
	Get a(an) EulerJointAspect from this Composite.

const Aspect *	getEulerJointAspect () const
	Get a(an) EulerJointAspect from this Composite.

Aspect *	getEulerJointAspect (const bool createIfNull)
	Get a(an) EulerJointAspect from this Composite.

void	setEulerJointAspect (const Aspect *aspect)
	Make a clone of EulerJointAspect and place the clone into this Composite.

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

template<typename... Args>
Aspect *	createEulerJointAspect (Args &&... args)
	Construct a(an) EulerJointAspect inside of this Composite.

void	removeEulerJointAspect ()
	Remove a(an) EulerJointAspect from this Composite.

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

	EulerJoint (const EulerJoint &)=delete

virtual	~EulerJoint ()
	Destructor.

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

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

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

Properties	getEulerJointProperties () const
	Get the Properties of this EulerJoint.

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

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

EulerJoint &	operator= (const EulerJoint &_otherJoint)
	Same as copy(const EulerJoint&)

const std::string &	getType () const override

bool	isCyclic (std::size_t _index) const override

void	setAxisOrder (AxisOrder _order, bool _renameDofs=true)
	Set the axis order.

AxisOrder	getAxisOrder () const
	Return the axis order.

template<typename RotationType >
Eigen::Vector3d	convertToPositions (const RotationType &_rotation) const
	This is a version of EulerJoint::convertToPositions(const RotationType&, AxisOrder) which will use the AxisOrder belonging to the joint instance that it gets called on.

Eigen::Isometry3d	convertToTransform (const Eigen::Vector3d &_positions) const
	This is a version of EulerJoint::convertToRotation(const Eigen::Vector3d&, AxisOrder) which will use the AxisOrder belonging to the joint instance that it gets called on.

Eigen::Matrix3d	convertToRotation (const Eigen::Vector3d &_positions) const

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.

template<typename RotationType >
static Eigen::Vector3d	convertToPositions (const RotationType &_rotation, AxisOrder _ordering)
	Convert a rotation into a 3D vector that can be used to set the positions of an EulerJoint with the specified AxisOrder.

static Eigen::Isometry3d	convertToTransform (const Eigen::Vector3d &_positions, AxisOrder _ordering)
	Convert a set of Euler angle positions into a transform.

static Eigen::Matrix3d	convertToRotation (const Eigen::Vector3d &_positions, AxisOrder _ordering)
	Convert a set of Euler angle positions into a rotation matrix.

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

Joint *	clone () const override

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

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.

Friends
class	Skeleton

Detailed Description

class EulerJoint

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

◆ AxisOrder

using dart::dynamics::EulerJoint::AxisOrder = detail::AxisOrder

◆ Base

using dart::dynamics::EulerJoint::Base = detail::EulerJointBase

◆ 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::EulerJoint::Properties = detail::EulerJointProperties

◆ UniqueProperties

using dart::dynamics::EulerJoint::UniqueProperties = detail::EulerJointUniqueProperties

Constructor & Destructor Documentation

◆ EulerJoint() [1/2]

dart::dynamics::EulerJoint::EulerJoint ( const EulerJoint & )

delete

◆ ~EulerJoint()

dart::dynamics::EulerJoint::~EulerJoint ( )

virtual

Destructor.

◆ EulerJoint() [2/2]

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

protected

Constructor called by Skeleton class.

Member Function Documentation

◆ clone()

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

overrideprotected

◆ convertToPositions() [1/2]

template<typename RotationType >

Eigen::Vector3d dart::dynamics::EulerJoint::convertToPositions ( const RotationType & _rotation ) const

inline

This is a version of EulerJoint::convertToPositions(const RotationType&, AxisOrder) which will use the AxisOrder belonging to the joint instance that it gets called on.

◆ convertToPositions() [2/2]

template<typename RotationType >

static Eigen::Vector3d dart::dynamics::EulerJoint::convertToPositions	(	const RotationType &	_rotation,
		AxisOrder	_ordering
	)

inlinestatic

Convert a rotation into a 3D vector that can be used to set the positions of an EulerJoint with the specified AxisOrder.

The positions returned by this function will result in a relative transform of getTransformFromParentBodyNode() * _rotation * getTransformFromChildBodyNode().inverse() between the parent BodyNode and the child BodyNode frames when applied to an EulerJoint with the correct axis ordering.

◆ convertToRotation() [1/2]

Eigen::Matrix3d dart::dynamics::EulerJoint::convertToRotation ( const Eigen::Vector3d & _positions ) const

◆ convertToRotation() [2/2]

Eigen::Matrix3d dart::dynamics::EulerJoint::convertToRotation	(	const Eigen::Vector3d &	_positions,
		AxisOrder	_ordering
	)

static

Convert a set of Euler angle positions into a rotation matrix.

◆ convertToTransform() [1/2]

Eigen::Isometry3d dart::dynamics::EulerJoint::convertToTransform ( const Eigen::Vector3d & _positions ) const

This is a version of EulerJoint::convertToRotation(const Eigen::Vector3d&, AxisOrder) which will use the AxisOrder belonging to the joint instance that it gets called on.

◆ convertToTransform() [2/2]

Eigen::Isometry3d dart::dynamics::EulerJoint::convertToTransform	(	const Eigen::Vector3d &	_positions,
		AxisOrder	_ordering
	)

static

Convert a set of Euler angle positions into a transform.

◆ copy() [1/2]

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

Copy the Properties of another EulerJoint.

◆ copy() [2/2]

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

Copy the Properties of another EulerJoint.

◆ createEulerJointAspect()

template<typename... Args>

Aspect * dart::dynamics::EulerJoint::createEulerJointAspect ( Args &&... args )

inline

Construct a(an) EulerJointAspect inside of this Composite.

◆ getAspectProperties()

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

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

inlineinherited

◆ getAxisOrder()

EulerJoint::AxisOrder dart::dynamics::EulerJoint::getAxisOrder ( ) const

Return the axis order.

◆ getEulerJointAspect() [1/3]

Aspect * dart::dynamics::EulerJoint::getEulerJointAspect ( )

inline

Get a(an) EulerJointAspect from this Composite.

◆ getEulerJointAspect() [2/3]

const Aspect * dart::dynamics::EulerJoint::getEulerJointAspect ( ) const

inline

Get a(an) EulerJointAspect from this Composite.

◆ getEulerJointAspect() [3/3]

Aspect * dart::dynamics::EulerJoint::getEulerJointAspect ( const bool createIfNull )

inline

Get a(an) EulerJointAspect from this Composite.

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

◆ getEulerJointProperties()

EulerJoint::Properties dart::dynamics::EulerJoint::getEulerJointProperties ( ) const

Get the Properties of this EulerJoint.

◆ getRelativeJacobianStatic()

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

override

◆ getStaticType()

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

static

Get joint type for this class.

◆ getType()

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

override

◆ hasEulerJointAspect()

bool dart::dynamics::EulerJoint::hasEulerJointAspect ( ) const

inline

Check if this Composite currently has EulerJointAspect .

◆ isCyclic()

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

override

◆ operator=()

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

Same as copy(const EulerJoint&)

◆ releaseEulerJointAspect()

std::unique_ptr< Aspect > dart::dynamics::EulerJoint::releaseEulerJointAspect ( )

inline

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

◆ removeEulerJointAspect()

void dart::dynamics::EulerJoint::removeEulerJointAspect ( )

inline

Remove a(an) EulerJointAspect from this Composite.

◆ setAspectProperties()

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

Set the AspectProperties of this EulerJoint.

◆ setAxisOrder()

void dart::dynamics::EulerJoint::setAxisOrder	(	EulerJoint::AxisOrder	_order,
		bool	_renameDofs = `true`
	)

Set the axis order.

Parameters

[in]	_order	Axis order
[in]	_renameDofs	If true, the names of dofs in this joint will be renmaed according to the axis order.

◆ setEulerJointAspect() [1/2]

void dart::dynamics::EulerJoint::setEulerJointAspect ( const Aspect * aspect )

inline

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

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

◆ setEulerJointAspect() [2/2]

void dart::dynamics::EulerJoint::setEulerJointAspect ( std::unique_ptr< Aspect > && aspect )

inline

Use move semantics to place EulerJointAspect into this Composite.

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

◆ setProperties() [1/2]

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

Set the Properties of this EulerJoint.

◆ setProperties() [2/2]

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

Set the Properties of this EulerJoint.

◆ updateDegreeOfFreedomNames()

void dart::dynamics::EulerJoint::updateDegreeOfFreedomNames ( )

overrideprotected

Set the names of this joint's DegreesOfFreedom.

Used during construction and when axis order is changed.

◆ updateRelativeJacobian()

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

overrideprotected

◆ updateRelativeJacobianTimeDeriv()

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

overrideprotected

◆ updateRelativeTransform()

void dart::dynamics::EulerJoint::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.

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ AxisOrder

◆ Base

◆ Derived

◆ Impl

◆ Properties

◆ UniqueProperties

Constructor & Destructor Documentation

◆ EulerJoint() [1/2]

◆ ~EulerJoint()

◆ EulerJoint() [2/2]

Member Function Documentation

◆ clone()

◆ convertToPositions() [1/2]

◆ convertToPositions() [2/2]

◆ convertToRotation() [1/2]

◆ convertToRotation() [2/2]

◆ convertToTransform() [1/2]

◆ convertToTransform() [2/2]

◆ copy() [1/2]

◆ copy() [2/2]

◆ createEulerJointAspect()

◆ getAspectProperties()

◆ getAxisOrder()

◆ getEulerJointAspect() [1/3]

◆ getEulerJointAspect() [2/3]

◆ getEulerJointAspect() [3/3]

◆ getEulerJointProperties()

◆ getRelativeJacobianStatic()

◆ getStaticType()

◆ getType()

◆ hasEulerJointAspect()

◆ isCyclic()

◆ operator=()

◆ releaseEulerJointAspect()

◆ removeEulerJointAspect()

◆ setAspectProperties()

◆ setAxisOrder()

◆ setEulerJointAspect() [1/2]

◆ setEulerJointAspect() [2/2]

◆ setProperties() [1/2]

◆ setProperties() [2/2]

◆ updateDegreeOfFreedomNames()

◆ updateRelativeJacobian()

◆ updateRelativeJacobianTimeDeriv()

◆ updateRelativeTransform()

Friends And Related Symbol Documentation

◆ Skeleton

Member Data Documentation

◆ mAspectProperties