TranslationalJoint2D represents a 2-dof joint, which has two orthogonal translational axes. More...

#include <TranslationalJoint2D.hpp>

Inheritance diagram for dart::dynamics::TranslationalJoint2D:

Public Types
using	PlaneType = detail::PlaneType

using	UniqueProperties = detail::TranslationalJoint2DUniqueProperties

using	Properties = detail::TranslationalJoint2DProperties

using	Base = detail::TranslationalJoint2DBase

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	hasTranslationalJoint2DAspect () const
	Check if this Composite currently has TranslationalJoint2DAspect .

Aspect *	getTranslationalJoint2DAspect ()
	Get a(an) TranslationalJoint2DAspect from this Composite.

const Aspect *	getTranslationalJoint2DAspect () const
	Get a(an) TranslationalJoint2DAspect from this Composite.

Aspect *	getTranslationalJoint2DAspect (const bool createIfNull)
	Get a(an) TranslationalJoint2DAspect from this Composite.

void	setTranslationalJoint2DAspect (const Aspect *aspect)
	Make a clone of TranslationalJoint2DAspect and place the clone into this Composite.

void	setTranslationalJoint2DAspect (std::unique_ptr< Aspect > &&aspect)
	Use move semantics to place TranslationalJoint2DAspect into this Composite.

template<typename... Args>
Aspect *	createTranslationalJoint2DAspect (Args &&... args)
	Construct a(an) TranslationalJoint2DAspect inside of this Composite.

void	removeTranslationalJoint2DAspect ()
	Remove a(an) TranslationalJoint2DAspect from this Composite.

std::unique_ptr< Aspect >	releaseTranslationalJoint2DAspect ()
	Remove a(an) TranslationalJoint2DAspect from this Composite, but return its unique_ptr instead of letting it be deleted.

	TranslationalJoint2D (const TranslationalJoint2D &)=delete

virtual	~TranslationalJoint2D ()
	Destructor.

void	setProperties (const Properties &properties)
	Sets the Properties of this TranslationalJoint2D.

void	setProperties (const UniqueProperties &properties)
	Sets the Properties of this TranslationalJoint2D.

void	setAspectProperties (const AspectProperties &properties)
	Sets the AspectProperties of this TranslationalJoint2D.

Properties	getTranslationalJoint2DProperties () const
	Returns the Properties of this TranslationalJoint2D.

void	copy (const TranslationalJoint2D &otherJoint)
	Copies the Properties of another TranslationalJoint2D.

void	copy (const TranslationalJoint2D *otherJoint)
	Copies the Properties of another TranslationalJoint2D.

TranslationalJoint2D &	operator= (const TranslationalJoint2D &otherJoint)
	Copies the Properties of another TranslationalJoint2D.

const std::string &	getType () const override

bool	isCyclic (std::size_t index) const override

void	setXYPlane (bool renameDofs=true)
	Sets plane type as XY-plane.

void	setYZPlane (bool renameDofs=true)
	Sets plane type as YZ-plane.

void	setZXPlane (bool renameDofs=true)
	Sets plane type as ZX-plane.

void	setArbitraryPlane (const Eigen::Vector3d &transAxis1, const Eigen::Vector3d &transAxis2, bool renameDofs=true)
	Sets plane type as arbitrary plane with two orthogonal translational axes.

PlaneType	getPlaneType () const
	Returns plane type.

Eigen::Vector3d	getTranslationalAxis1 () const
	Returns first translational axis.

Eigen::Vector3d	getTranslationalAxis2 () const
	Returns second translational axis.

Eigen::Matrix< double, 6, 2 >	getRelativeJacobianStatic (const Eigen::Vector2d &positions) const override

const AspectProperties &	getAspectProperties () const

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

Protected Member Functions
	TranslationalJoint2D (const Properties &properties)
	Constructor called by Skeleton class.

Joint *	clone () const override

void	updateDegreeOfFreedomNames () override

void	updateRelativeTransform () const override

void	updateRelativeJacobian (bool mandatory=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

TranslationalJoint2D represents a 2-dof joint, which has two orthogonal translational axes.

First and second coordiantes represent the translations along first and second translational axes, respectively.

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::TranslationalJoint2D::Base = detail::TranslationalJoint2DBase

◆ 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::TranslationalJoint2D::PlaneType = detail::PlaneType

◆ Properties

using dart::dynamics::TranslationalJoint2D::Properties = detail::TranslationalJoint2DProperties

◆ UniqueProperties

using dart::dynamics::TranslationalJoint2D::UniqueProperties = detail::TranslationalJoint2DUniqueProperties

Constructor & Destructor Documentation

◆ TranslationalJoint2D() [1/2]

dart::dynamics::TranslationalJoint2D::TranslationalJoint2D ( const TranslationalJoint2D & )

delete

◆ ~TranslationalJoint2D()

dart::dynamics::TranslationalJoint2D::~TranslationalJoint2D ( )

virtual

Destructor.

◆ TranslationalJoint2D() [2/2]

dart::dynamics::TranslationalJoint2D::TranslationalJoint2D ( const Properties & properties )

explicitprotected

Constructor called by Skeleton class.

Member Function Documentation

◆ clone()

Joint * dart::dynamics::TranslationalJoint2D::clone ( ) const

overrideprotected

◆ copy() [1/2]

void dart::dynamics::TranslationalJoint2D::copy ( const TranslationalJoint2D & otherJoint )

Copies the Properties of another TranslationalJoint2D.

◆ copy() [2/2]

void dart::dynamics::TranslationalJoint2D::copy ( const TranslationalJoint2D * otherJoint )

Copies the Properties of another TranslationalJoint2D.

◆ createTranslationalJoint2DAspect()

template<typename... Args>

Aspect * dart::dynamics::TranslationalJoint2D::createTranslationalJoint2DAspect ( Args &&... args )

inline

Construct a(an) TranslationalJoint2DAspect inside of this Composite.

◆ getAspectProperties()

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

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

inlineinherited

◆ getPlaneType()

TranslationalJoint2D::PlaneType dart::dynamics::TranslationalJoint2D::getPlaneType ( ) const

Returns plane type.

◆ getRelativeJacobianStatic()

Eigen::Matrix< double, 6, 2 > dart::dynamics::TranslationalJoint2D::getRelativeJacobianStatic ( const Eigen::Vector2d & positions ) const

override

◆ getStaticType()

const std::string & dart::dynamics::TranslationalJoint2D::getStaticType ( )

static

Returns joint type for this class.

◆ getTranslationalAxis1()

Eigen::Vector3d dart::dynamics::TranslationalJoint2D::getTranslationalAxis1 ( ) const

Returns first translational axis.

◆ getTranslationalAxis2()

Eigen::Vector3d dart::dynamics::TranslationalJoint2D::getTranslationalAxis2 ( ) const

Returns second translational axis.

◆ getTranslationalJoint2DAspect() [1/3]

Aspect * dart::dynamics::TranslationalJoint2D::getTranslationalJoint2DAspect ( )

inline

Get a(an) TranslationalJoint2DAspect from this Composite.

◆ getTranslationalJoint2DAspect() [2/3]

const Aspect * dart::dynamics::TranslationalJoint2D::getTranslationalJoint2DAspect ( ) const

inline

Get a(an) TranslationalJoint2DAspect from this Composite.

◆ getTranslationalJoint2DAspect() [3/3]

Aspect * dart::dynamics::TranslationalJoint2D::getTranslationalJoint2DAspect ( const bool createIfNull )

inline

Get a(an) TranslationalJoint2DAspect from this Composite.

If _createIfNull is true, then a(an) TranslationalJoint2DAspect will be generated if one does not already exist.

◆ getTranslationalJoint2DProperties()

TranslationalJoint2D::Properties dart::dynamics::TranslationalJoint2D::getTranslationalJoint2DProperties ( ) const

Returns the Properties of this TranslationalJoint2D.

◆ getType()

const std::string & dart::dynamics::TranslationalJoint2D::getType ( ) const

override

◆ hasTranslationalJoint2DAspect()

bool dart::dynamics::TranslationalJoint2D::hasTranslationalJoint2DAspect ( ) const

inline

Check if this Composite currently has TranslationalJoint2DAspect .

◆ isCyclic()

bool dart::dynamics::TranslationalJoint2D::isCyclic ( std::size_t index ) const

override

◆ operator=()

TranslationalJoint2D & dart::dynamics::TranslationalJoint2D::operator= ( const TranslationalJoint2D & otherJoint )

Copies the Properties of another TranslationalJoint2D.

◆ releaseTranslationalJoint2DAspect()

std::unique_ptr< Aspect > dart::dynamics::TranslationalJoint2D::releaseTranslationalJoint2DAspect ( )

inline

Remove a(an) TranslationalJoint2DAspect 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) TranslationalJoint2DAspect between two Composites.

◆ removeTranslationalJoint2DAspect()

void dart::dynamics::TranslationalJoint2D::removeTranslationalJoint2DAspect ( )

inline

Remove a(an) TranslationalJoint2DAspect from this Composite.

◆ setArbitraryPlane()

void dart::dynamics::TranslationalJoint2D::setArbitraryPlane	(	const Eigen::Vector3d &	transAxis1,
		const Eigen::Vector3d &	transAxis2,
		bool	renameDofs = `true`
	)

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

Parameters

[in]	transAxis1	First translational axis
[in]	transAxis2	Second translational axis
[in]	renameDofs	If true, the names of dofs in this joint will be renmaed according to the plane type.

◆ setAspectProperties()

void dart::dynamics::TranslationalJoint2D::setAspectProperties ( const AspectProperties & properties )

Sets the AspectProperties of this TranslationalJoint2D.

◆ setProperties() [1/2]

void dart::dynamics::TranslationalJoint2D::setProperties ( const Properties & properties )

Sets the Properties of this TranslationalJoint2D.

◆ setProperties() [2/2]

void dart::dynamics::TranslationalJoint2D::setProperties ( const UniqueProperties & properties )

Sets the Properties of this TranslationalJoint2D.

◆ setTranslationalJoint2DAspect() [1/2]

void dart::dynamics::TranslationalJoint2D::setTranslationalJoint2DAspect ( const Aspect * aspect )

inline

Make a clone of TranslationalJoint2DAspect and place the clone into this Composite.

If a(an) TranslationalJoint2DAspect already exists in this Composite, the existing TranslationalJoint2DAspect will be destroyed.

◆ setTranslationalJoint2DAspect() [2/2]

void dart::dynamics::TranslationalJoint2D::setTranslationalJoint2DAspect ( std::unique_ptr< Aspect > && aspect )

inline

Use move semantics to place TranslationalJoint2DAspect into this Composite.

If a(an) TranslationalJoint2DAspect already exists in this Composite, the existing TranslationalJoint2DAspect will be destroyed.

◆ setXYPlane()

void dart::dynamics::TranslationalJoint2D::setXYPlane ( bool renameDofs = true )

Sets 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::TranslationalJoint2D::setYZPlane ( bool renameDofs = true )

Sets 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::TranslationalJoint2D::setZXPlane ( bool renameDofs = true )

Sets 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::TranslationalJoint2D::updateDegreeOfFreedomNames ( )

overrideprotected

◆ updateRelativeJacobian()

void dart::dynamics::TranslationalJoint2D::updateRelativeJacobian ( bool mandatory = true ) const

overrideprotected

◆ updateRelativeJacobianTimeDeriv()

void dart::dynamics::TranslationalJoint2D::updateRelativeJacobianTimeDeriv ( ) const

overrideprotected

◆ updateRelativeTransform()

void dart::dynamics::TranslationalJoint2D::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

◆ Base

◆ Derived

◆ Impl

◆ PlaneType

◆ Properties

◆ UniqueProperties

Constructor & Destructor Documentation

◆ TranslationalJoint2D() [1/2]

◆ ~TranslationalJoint2D()

◆ TranslationalJoint2D() [2/2]

Member Function Documentation

◆ clone()

◆ copy() [1/2]

◆ copy() [2/2]

◆ createTranslationalJoint2DAspect()

◆ getAspectProperties()

◆ getPlaneType()

◆ getRelativeJacobianStatic()

◆ getStaticType()

◆ getTranslationalAxis1()

◆ getTranslationalAxis2()

◆ getTranslationalJoint2DAspect() [1/3]

◆ getTranslationalJoint2DAspect() [2/3]

◆ getTranslationalJoint2DAspect() [3/3]

◆ getTranslationalJoint2DProperties()

◆ getType()

◆ hasTranslationalJoint2DAspect()

◆ isCyclic()

◆ operator=()

◆ releaseTranslationalJoint2DAspect()

◆ removeTranslationalJoint2DAspect()

◆ setArbitraryPlane()

◆ setAspectProperties()

◆ setProperties() [1/2]

◆ setProperties() [2/2]

◆ setTranslationalJoint2DAspect() [1/2]

◆ setTranslationalJoint2DAspect() [2/2]

◆ setXYPlane()

◆ setYZPlane()

◆ setZXPlane()

◆ updateDegreeOfFreedomNames()

◆ updateRelativeJacobian()

◆ updateRelativeJacobianTimeDeriv()

◆ updateRelativeTransform()

Friends And Related Symbol Documentation

◆ Skeleton

Member Data Documentation

◆ mAspectProperties