33 #ifndef DART_DYNAMICS_JOINT_HPP_
34 #define DART_DYNAMICS_JOINT_HPP_
53 class DegreeOfFreedom;
123 const std::string&
setName(
const std::string& _name,
124 bool _renameDofs =
true);
127 const std::string&
getName()
const;
130 virtual const std::string&
getType()
const = 0;
165 std::shared_ptr<const Skeleton>
getSkeleton()
const;
221 const std::string& _name,
222 bool _preserveName=
true) = 0;
231 virtual const std::string&
getDofName(std::size_t _index)
const = 0;
241 virtual void setCommand(std::size_t _index,
double _command) = 0;
262 virtual void setPosition(std::size_t _index,
double _position) = 0;
302 virtual bool isCyclic(std::size_t _index)
const = 0;
335 virtual void setVelocity(std::size_t _index,
double _velocity) = 0;
444 virtual void setForce(std::size_t _index,
double _force) = 0;
447 virtual double getForce(std::size_t _index)
const = 0;
450 virtual void setForces(
const Eigen::VectorXd& _forces) = 0;
491 bool checkSanity(
bool _printWarnings =
true)
const;
536 const Eigen::VectorXd& _q2,
const Eigen::VectorXd& _q1)
const = 0;
644 const
Eigen::VectorXd& positions) const = 0;
837 double _timeStep) = 0;
855 double _timeStep) = 0;
882 bool _withDampingForces,
883 bool _withSpringForces) = 0;
891 bool _withDampingForcese,
892 bool _withSpringForces) = 0;
927 const
std::
size_t _col,
933 const
std::
size_t _col,
1005 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
#define DART_DEPRECATED(version)
Definition: Deprecated.hpp:51
BodyPropPtr properties
Definition: SdfParser.cpp:80
detail::CompositeProperties Properties
Definition: Composite.hpp:56
Inherit this class to embed Properties into your Composite object.
Definition: EmbeddedAspect.hpp:210
typename Aspect::Properties AspectProperties
Definition: EmbeddedAspect.hpp:215
This is the implementation of a standard embedded-properties Aspect.
Definition: EmbeddedAspect.hpp:169
The Subject class is a base class for any object that wants to report when it gets destroyed.
Definition: Subject.hpp:58
VersionCounter is an interface for objects that count their versions.
Definition: VersionCounter.hpp:43
Definition: CompositeData.hpp:104
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:78
DegreeOfFreedom class is a proxy class for accessing single degrees of freedom (aka generalized coord...
Definition: DegreeOfFreedom.hpp:53
class Joint
Definition: Joint.hpp:59
virtual void updateInvProjArtInertia(const Eigen::Matrix6d &_artInertia)=0
Update inverse of projected articulated body inertia.
bool mNeedSpatialAccelerationUpdate
True iff this joint's position, velocity, or acceleration has changed since the last call to getRelat...
Definition: Joint.hpp:986
virtual double getVelocityLowerLimit(std::size_t _index) const =0
Get lower limit for velocity.
virtual void updateForceID(const Eigen::Vector6d &_bodyForce, double _timeStep, bool _withDampingForces, bool _withSpringForces)=0
Update joint force for inverse dynamics.
virtual void updateTotalForceForInvMassMatrix(const Eigen::Vector6d &_bodyForce)=0
virtual double getDampingCoefficient(std::size_t _index) const =0
Get coefficient of joint damping (viscous friction) force.
virtual double getInitialPosition(std::size_t _index) const =0
Get the position that resetPosition() will give to this coordinate.
virtual void setTransformFromChildBodyNode(const Eigen::Isometry3d &_T)
Set transformation from child body node to this joint.
Definition: Joint.cpp:448
virtual void updateImpulseFD(const Eigen::Vector6d &_bodyImpulse)=0
Update joint impulses for forward dynamics.
virtual Eigen::VectorXd getForces() const =0
Get the forces of all generalized coordinates in this Joint.
virtual Eigen::VectorXd getSpatialToGeneralized(const Eigen::Vector6d &_spatial)=0
virtual void updateTotalImpulse(const Eigen::Vector6d &_bodyImpulse)=0
Update joint total impulse.
virtual double getVelocityUpperLimit(std::size_t _index) const =0
Get upper limit for velocity.
void setActuatorType(ActuatorType _actuatorType)
Set actuator type.
Definition: Joint.cpp:186
virtual void updateForceFD(const Eigen::Vector6d &_bodyForce, double _timeStep, bool _withDampingForcese, bool _withSpringForces)=0
Update joint force for forward dynamics.
Eigen::Vector6d mPrimaryAcceleration
J * q_dd.
Definition: Joint.hpp:972
virtual double getAccelerationUpperLimit(std::size_t _index) const =0
Get upper limit for acceleration.
virtual void addChildBiasForceForInvMassMatrix(Eigen::Vector6d &_parentBiasForce, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasForce)=0
Add child's bias force to parent's one.
virtual void setPositions(const Eigen::VectorXd &_positions)=0
Set the positions of all generalized coordinates in this Joint.
virtual void resetPosition(std::size_t _index)=0
Set the position of this generalized coordinate to its initial position.
virtual void setForceUpperLimit(std::size_t _index, double _force)=0
Set upper limit for force.
virtual void resetConstraintImpulses()=0
Set zero all the constraint impulses.
virtual std::size_t getNumDofs() const =0
Get number of generalized coordinates.
virtual void setCommand(std::size_t _index, double _command)=0
Set a single command.
const Eigen::Vector6d & getRelativePrimaryAcceleration() const
Get J * \ddot{q} of this joint.
Definition: Joint.cpp:342
detail::ActuatorType ActuatorType
Definition: Joint.hpp:65
virtual void resetAccelerations()=0
Set the accelerations of all generalized coordinates in this Joint to zero.
virtual double getForceUpperLimit(std::size_t _index) const =0
Get upper limit for force.
virtual void setInitialVelocity(std::size_t _index, double _initial)=0
Change the velocity that resetVelocity() will give to this coordinate.
virtual void updateInvProjArtInertiaImplicit(const Eigen::Matrix6d &_artInertia, double _timeStep)=0
Forward dynamics routine.
virtual void updateRelativeJacobianTimeDeriv() const =0
Update time derivative of spatial Jacobian of the child BodyNode relative to the parent BodyNode expr...
virtual void updateRelativeJacobian(bool mandatory=true) const =0
Update spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child ...
const Eigen::Vector6d & getLocalSpatialVelocity() const
Deprecated. Use getLocalSpatialVelocity() instead.
Definition: Joint.cpp:270
bool mNeedPrimaryAccelerationUpdate
True iff this joint's position, velocity, or acceleration has changed since the last call to getRelat...
Definition: Joint.hpp:991
virtual Eigen::VectorXd getPositionUpperLimits() const =0
Get the position upper limits of all the generalized coordinates.
virtual double getConstraintImpulse(std::size_t _index) const =0
Get a single constraint impulse.
virtual void updateDegreeOfFreedomNames()=0
Update the names of the joint's degrees of freedom.
static constexpr ActuatorType PASSIVE
Definition: Joint.hpp:67
virtual void setVelocity(std::size_t _index, double _velocity)=0
Set the velocity of a single generalized coordinate.
virtual double computePotentialEnergy() const =0
Compute and return the potential energy.
virtual void setForces(const Eigen::VectorXd &_forces)=0
Set the forces of all generalized coordinates in this Joint.
virtual void getInvAugMassMatrixSegment(Eigen::MatrixXd &_invMassMat, const std::size_t _col, const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_spatialAcc)=0
std::size_t getJointIndexInSkeleton() const
Get the index of this Joint within its Skeleton.
Definition: Joint.cpp:366
virtual double getForceLowerLimit(std::size_t _index) const =0
Get lower limit for force.
virtual void setInitialVelocities(const Eigen::VectorXd &_initial)=0
Change the velocities that resetVelocities() will give to this Joint's coordinates.
virtual void resetVelocityChanges()=0
Set zero all the velocity change.
virtual void setAccelerationLowerLimit(std::size_t _index, double _acceleration)=0
Set lower limit for acceleration.
const std::string & getName() const
Get joint name.
Definition: Joint.cpp:180
const Eigen::Vector6d & getLocalSpatialAcceleration() const
Deprecated. Use getLocalSpatialAcceleration() instead.
Definition: Joint.cpp:276
bool mNeedSpatialVelocityUpdate
True iff this joint's position or velocity has changed since the last call to getRelativeSpatialVeloc...
Definition: Joint.hpp:981
bool checkSanity(bool _printWarnings=true) const
Returns false if the initial position or initial velocity are outside of limits.
Definition: Joint.cpp:384
const Eigen::Isometry3d & getLocalTransform() const
Deprecated. Use getRelativeTransform() instead.
Definition: Joint.cpp:264
virtual void setVelocityUpperLimits(const Eigen::VectorXd &upperLimits)=0
Set the velocity upper limits of all the generalized coordinates.
static constexpr ActuatorType SERVO
Definition: Joint.hpp:68
virtual DegreeOfFreedom * getDof(std::size_t _index)=0
Get an object to access the _index-th degree of freedom (generalized coordinate) of this Joint.
virtual void integratePositions(double _dt)=0
Integrate positions using Euler method.
virtual void setForceUpperLimits(const Eigen::VectorXd &upperLimits)=0
Set the force upper limits of all the generalized coordinates.
virtual double getVelocityChange(std::size_t _index) const =0
Get a single velocity change.
virtual Eigen::VectorXd getPositionDifferences(const Eigen::VectorXd &_q2, const Eigen::VectorXd &_q1) const =0
Return the difference of two generalized coordinates which are measured in the configuration space of...
BodyNode * getParentBodyNode()
Get the parent BodyNode of this Joint.
Definition: Joint.cpp:237
virtual double getSpringStiffness(std::size_t _index) const =0
Get stiffness of joint spring force.
static constexpr ActuatorType ACCELERATION
Definition: Joint.hpp:69
Eigen::Vector6d mSpatialAcceleration
Relative spatial acceleration from parent BodyNode to child BodyNode where the acceleration is expres...
Definition: Joint.hpp:967
virtual void updateVelocityChange(const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_velocityChange)=0
Update joint velocity change.
virtual void addChildBiasImpulseTo(Eigen::Vector6d &_parentBiasImpulse, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasImpulse)=0
Add child's bias impulse to parent's one.
virtual void resetForces()=0
Set the forces of all generalized coordinates in this Joint to zero.
virtual void setTransformFromParentBodyNode(const Eigen::Isometry3d &_T)
Set transformation from parent body node to this joint.
Definition: Joint.cpp:440
virtual double getVelocity(std::size_t _index) const =0
Get the velocity of a single generalized coordinate.
virtual double getAcceleration(std::size_t _index) const =0
Get the acceleration of a single generalized coordinate.
virtual void updateRelativeSpatialVelocity() const =0
Update spatial velocity of the child BodyNode relative to the parent BodyNode expressed in the child ...
void updateArticulatedInertia() const
Tells the Skeleton to update the articulated inertia if it needs updating.
Definition: Joint.cpp:528
bool mNeedTransformUpdate
True iff this joint's position has changed since the last call to getRelativeTransform()
Definition: Joint.hpp:976
detail::JointProperties Properties
Definition: Joint.hpp:63
DegreeOfFreedom * createDofPointer(std::size_t _indexInJoint)
Create a DegreeOfFreedom pointer.
Definition: Joint.cpp:486
void updateLocalSpatialVelocity() const
Deprecated. Use updateRelativeSpatialVelocity() instead.
Definition: Joint.cpp:498
void notifyAccelerationUpdate()
Notify that an acceleration has updated.
Definition: Joint.cpp:617
static constexpr ActuatorType LOCKED
Definition: Joint.hpp:71
virtual double getCommand(std::size_t _index) const =0
Get a single command.
void notifyVelocityUpdated()
Notify that a velocity has updated.
Definition: Joint.cpp:602
void copy(const Joint &_otherJoint)
Copy the properties of another Joint.
Definition: Joint.cpp:125
Eigen::Vector6d mSpatialVelocity
Relative spatial velocity from parent BodyNode to child BodyNode where the velocity is expressed in c...
Definition: Joint.hpp:961
void notifyPositionUpdate()
Notify that a position has updated.
Definition: Joint.cpp:562
virtual void setPositionLowerLimit(std::size_t _index, double _position)=0
Set lower limit for position.
virtual void addAccelerationTo(Eigen::Vector6d &_acc)=0
Add joint acceleration to _acc.
virtual void preserveDofName(std::size_t _index, bool _preserve)=0
Alternative to DegreeOfFreedom::preserveName()
virtual Eigen::VectorXd getVelocityUpperLimits() const =0
Get the velocity upper limits of all the generalized coordinates.
virtual void setInitialPosition(std::size_t _index, double _initial)=0
Change the position that resetPositions() will give to this coordinate.
virtual Eigen::VectorXd getInitialVelocities() const =0
Get the velocities that resetVelocities() will give to this Joint's coordinates.
const std::string & setName(const std::string &_name, bool _renameDofs=true)
Set joint name and return the name.
Definition: Joint.cpp:150
virtual Eigen::VectorXd getVelocityLowerLimits() const =0
Get the velocity lower limits of all the generalized coordinates.
virtual Eigen::VectorXd getInitialPositions() const =0
Get the positions that resetPositions() will give to this Joint's coordinates.
virtual void resetPositions()=0
Set the positions of all generalized coordinates in this Joint to their initial positions.
BodyNode * mChildBodyNode
Child BodyNode pointer that this Joint belongs to.
Definition: Joint.hpp:949
bool isKinematic() const
Return true if this joint is kinematic joint.
Definition: Joint.cpp:198
void setAspectProperties(const AspectProperties &properties)
Set the AspectProperties of this Joint.
Definition: Joint.cpp:109
const Properties & getJointProperties() const
Get the Properties of this Joint.
Definition: Joint.cpp:119
virtual std::size_t getIndexInTree(std::size_t _index) const =0
Get a unique index in the kinematic tree of a generalized coordinate in this Joint.
virtual Joint * clone() const =0
Create a clone of this Joint.
virtual void setConstraintImpulse(std::size_t _index, double _impulse)=0
Set a single constraint impulse.
virtual Eigen::VectorXd getCommands() const =0
Get all commands for this Joint.
virtual void setForce(std::size_t _index, double _force)=0
Set the force of a single generalized coordinate.
ActuatorType getActuatorType() const
Get actuator type.
Definition: Joint.cpp:192
virtual double getRestPosition(std::size_t _index) const =0
Get rest position of spring force.
virtual bool hasPositionLimit(std::size_t _index) const =0
Get whether the position of a generalized coordinate has limits.
const Eigen::Isometry3d & getRelativeTransform() const
Get transform of the child BodyNode relative to the parent BodyNode expressed in the child BodyNode f...
Definition: Joint.cpp:306
virtual void setAccelerations(const Eigen::VectorXd &_accelerations)=0
Set the accelerations of all generalized coordinates in this Joint.
virtual void addInvMassMatrixSegmentTo(Eigen::Vector6d &_acc)=0
virtual void setVelocityLowerLimits(const Eigen::VectorXd &lowerLimits)=0
Set the velocity lower limits of all the generalized coordinates.
const Eigen::Vector6d & getRelativeSpatialAcceleration() const
Get spatial acceleration of the child BodyNode relative to the parent BodyNode expressed in the child...
Definition: Joint.cpp:330
void notifyVelocityUpdate()
Notify that a velocity has updated.
Definition: Joint.cpp:596
virtual void updateRelativePrimaryAcceleration() const =0
Update J * \ddot{q} of this joint.
virtual void setPositionUpperLimit(std::size_t _index, double _position)=0
Set upper limit for position.
virtual void resetVelocities()=0
Set the velocities of all generalized coordinates in this Joint to their initial velocities.
virtual double getAccelerationLowerLimit(std::size_t _index) const =0
Get lower limit for acceleration.
virtual void setForceLowerLimits(const Eigen::VectorXd &lowerLimits)=0
Set the force upper limits of all the generalized coordinates.
virtual Eigen::VectorXd getAccelerations() const =0
Get the accelerations of all generalized coordinates in this Joint.
virtual void setDampingCoefficient(std::size_t _index, double _coeff)=0
Set coefficient of joint damping (viscous friction) force.
virtual void setVelocityChange(std::size_t _index, double _velocityChange)=0
Set a single velocity change.
virtual void resetVelocity(std::size_t _index)=0
Set the velocity of a generalized coordinate in this Joint to its initial velocity.
virtual void setSpringStiffness(std::size_t _index, double _k)=0
Set stiffness of joint spring force.
SkeletonPtr getSkeleton()
Get the Skeleton that this Joint belongs to.
Definition: Joint.cpp:252
static constexpr ActuatorType FORCE
Definition: Joint.hpp:66
virtual void setAcceleration(std::size_t _index, double _acceleration)=0
Set the acceleration of a single generalized coordinate.
void updateLocalSpatialAcceleration() const
Deprecated. Use updateRelativeSpatialAcceleration() instead.
Definition: Joint.cpp:504
virtual void registerDofs()=0
Called by the Skeleton class.
virtual Eigen::VectorXd getForceLowerLimits() const =0
Get the force upper limits of all the generalized coordinates.
virtual void setRestPosition(std::size_t _index, double _q0)=0
Set rest position of spring force.
virtual void getInvMassMatrixSegment(Eigen::MatrixXd &_invMassMat, const std::size_t _col, const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_spatialAcc)=0
Joint(const Joint &)=delete
virtual const DegreeOfFreedom * getDof(std::size_t _index) const =0
Get an object to access the _index-th degree of freedom (generalized coordinate) of this Joint.
void notifyAccelerationUpdated()
Notify that an acceleration has updated.
Definition: Joint.cpp:623
Joint & operator=(const Joint &_otherJoint)
Same as copy(const Joint&)
Definition: Joint.cpp:143
virtual void setPositionUpperLimits(const Eigen::VectorXd &upperLimits)=0
Set the position upper limits of all the generalized coordinates.
virtual void addChildArtInertiaImplicitTo(Eigen::Matrix6d &_parentArtInertiaImplicit, const Eigen::Matrix6d &_childArtInertiaImplicit)=0
Add child's articulated inertia to parent's one. Forward dynamics routine.
virtual void setPositionLowerLimits(const Eigen::VectorXd &lowerLimits)=0
Set the position lower limits of all the generalized coordinates.
virtual void setAccelerationLowerLimits(const Eigen::VectorXd &lowerLimits)=0
Set the acceleration upper limits of all the generalized coordinates.
bool isPositionLimitEnforced() const
Get whether enforcing joint position limit.
Definition: Joint.cpp:360
static const ActuatorType DefaultActuatorType
Default actuator type.
Definition: Joint.hpp:92
virtual void setForceLowerLimit(std::size_t _index, double _force)=0
Set lower limit for force.
virtual double getForce(std::size_t _index) const =0
Get the force of a single generalized coordinate.
virtual void setVelocities(const Eigen::VectorXd &_velocities)=0
Set the velocities of all generalized coordinates in this Joint.
std::size_t getTreeIndex() const
Get the index of the tree that this Joint belongs to.
Definition: Joint.cpp:378
void updateLocalPrimaryAcceleration() const
Deprecated. Use updateRelativePrimaryAcceleration() instead.
Definition: Joint.cpp:510
virtual Eigen::VectorXd getForceUpperLimits() const =0
Get the force upper limits of all the generalized coordinates.
virtual Eigen::VectorXd getAccelerationLowerLimits() const =0
Get the acceleration upper limits of all the generalized coordinates.
virtual void updateConstrainedTerms(double _timeStep)=0
Update constrained terms for forward dynamics.
void updateLocalTransform() const
Deprecated. Use updateRelativeTransform() instead.
Definition: Joint.cpp:492
void notifyPositionUpdated()
Notify that a position has updated.
Definition: Joint.cpp:568
virtual double getInitialVelocity(std::size_t _index) const =0
Get the velocity that resetVelocity() will give to this coordinate.
virtual const std::string & getDofName(std::size_t _index) const =0
Alternative to DegreeOfFreedom::getName()
virtual void resetCommands()=0
Set all the commands for this Joint to zero.
virtual void addVelocityChangeTo(Eigen::Vector6d &_velocityChange)=0
Add joint velocity change to _velocityChange.
virtual const math::Jacobian getRelativeJacobianTimeDeriv() const =0
Get time derivative of spatial Jacobian of the child BodyNode relative to the parent BodyNode express...
const Eigen::Isometry3d & getTransformFromParentBodyNode() const
Get transformation from parent body node to this joint.
Definition: Joint.cpp:457
virtual void setPartialAccelerationTo(Eigen::Vector6d &_partialAcceleration, const Eigen::Vector6d &_childVelocity)=0
Set joint partial acceleration to _partialAcceleration.
virtual double getPositionLowerLimit(std::size_t _index) const =0
Get lower limit for position.
virtual void updateRelativeTransform() const =0
Update transform of the child BodyNode relative to the parent BodyNode expressed in the child BodyNod...
virtual double getPosition(std::size_t _index) const =0
Get the position of a single generalized coordinate.
virtual Eigen::VectorXd getPositions() const =0
Get the positions of all generalized coordinates in this Joint.
virtual void addChildBiasForceTo(Eigen::Vector6d &_parentBiasForce, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasForce, const Eigen::Vector6d &_childPartialAcc)=0
Add child's bias force to parent's one.
void setPositionLimitEnforced(bool _isPositionLimitEnforced)
Set to enforce joint position limit.
Definition: Joint.cpp:354
virtual double getCoulombFriction(std::size_t _index) const =0
Get joint Coulomb friction froce.
virtual void addChildArtInertiaTo(Eigen::Matrix6d &_parentArtInertia, const Eigen::Matrix6d &_childArtInertia)=0
Add child's articulated inertia to parent's one.
bool mIsRelativeJacobianTimeDerivDirty
True iff this joint's relative Jacobian time derivative has not been updated since the last position ...
Definition: Joint.hpp:1000
virtual void addChildBiasForceForInvAugMassMatrix(Eigen::Vector6d &_parentBiasForce, const Eigen::Matrix6d &_childArtInertia, const Eigen::Vector6d &_childBiasForce)=0
Add child's bias force to parent's one.
virtual const std::string & setDofName(std::size_t _index, const std::string &_name, bool _preserveName=true)=0
Alternative to DegreeOfFreedom::setName()
Eigen::Isometry3d mT
Relative transformation of the child BodyNode relative to the parent BodyNode expressed in the child ...
Definition: Joint.hpp:955
void updateLocalJacobianTimeDeriv() const
Deprecated. Use updateRelativeJacobianTimeDeriv() instead.
Definition: Joint.cpp:522
const Eigen::Vector6d & getRelativeSpatialVelocity() const
Get spatial velocity of the child BodyNode relative to the parent BodyNode expressed in the child Bod...
Definition: Joint.cpp:318
virtual void setCoulombFriction(std::size_t _index, double _friction)=0
Set joint Coulomb friction froce.
virtual void setCommands(const Eigen::VectorXd &_commands)=0
Set all commands for this Joint.
const math::Jacobian getLocalJacobianTimeDeriv() const
Deprecated. Use getRelativeJacobianTimeDeriv() instead.
Definition: Joint.cpp:300
virtual const math::Jacobian getRelativeJacobian() const =0
Get spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child Bod...
virtual void setVelocityUpperLimit(std::size_t _index, double _velocity)=0
Set upper limit for velocity.
double getPotentialEnergy() const
Get potential energy.
Definition: Joint.cpp:434
const Eigen::Isometry3d & getTransformFromChildBodyNode() const
Get transformation from child body node to this joint.
Definition: Joint.cpp:463
virtual void updateTotalForce(const Eigen::Vector6d &_bodyForce, double _timeStep)=0
Update joint total force.
virtual double getPositionUpperLimit(std::size_t _index) const =0
Get upper limit for position.
BodyNode * getChildBodyNode()
Get the child BodyNode of this Joint.
Definition: Joint.cpp:225
virtual void setInitialPositions(const Eigen::VectorXd &_initial)=0
Change the positions that resetPositions() will give to this Joint's coordinates.
virtual const std::string & getType() const =0
Gets a string representing the joint type.
bool mIsRelativeJacobianDirty
True iff this joint's relative Jacobian has not been updated since the last position change.
Definition: Joint.hpp:996
void updateLocalJacobian(bool mandatory=true) const
Deprecated. Use updateRelativeJacobian() instead.
Definition: Joint.cpp:516
virtual Eigen::VectorXd getAccelerationUpperLimits() const =0
Get the acceleration upper limits of all the generalized coordinates.
virtual Eigen::VectorXd getPositionLowerLimits() const =0
Get the position lower limits of all the generalized coordinates.
virtual void updateAcceleration(const Eigen::Matrix6d &_artInertia, const Eigen::Vector6d &_spatialAcc)=0
Update joint acceleration.
virtual void resetTotalImpulses()=0
Set total impulses to zero.
virtual void updateImpulseID(const Eigen::Vector6d &_bodyImpulse)=0
Update joint impulses for inverse dynamics.
virtual void setVelocityLowerLimit(std::size_t _index, double _velocity)=0
Set lower limit for velocity.
virtual void setPosition(std::size_t _index, double _position)=0
Set the position of a single generalized coordinate.
void setProperties(const Properties &properties)
Set the Properties of this Joint.
Definition: Joint.cpp:103
bool isDynamic() const
Return true if this joint is dynamic joint.
Definition: Joint.cpp:219
virtual bool isDofNamePreserved(std::size_t _index) const =0
Alternative to DegreeOfFreedom::isNamePreserved()
virtual void addVelocityTo(Eigen::Vector6d &_vel)=0
Add joint velocity to _vel.
virtual Eigen::VectorXd getVelocities() const =0
Get the velocities of all generalized coordinates in this Joint.
common::Composite::Properties CompositeProperties
Definition: Joint.hpp:62
virtual void integrateVelocities(double _dt)=0
Integrate velocities using Euler method.
static constexpr ActuatorType VELOCITY
Definition: Joint.hpp:70
const Eigen::Vector6d & getLocalPrimaryAcceleration() const
Deprecated. Use getLocalPrimaryAcceleration() instead.
Definition: Joint.cpp:282
std::size_t getJointIndexInTree() const
Get the index of this Joint within its tree.
Definition: Joint.cpp:372
virtual void updateRelativeSpatialAcceleration() const =0
Update spatial acceleration of the child BodyNode relative to the parent BodyNode expressed in the ch...
virtual ~Joint()
Destructor.
Definition: Joint.cpp:97
virtual void setAccelerationUpperLimits(const Eigen::VectorXd &upperLimits)=0
Set the acceleration upper limits of all the generalized coordinates.
const math::Jacobian getLocalJacobian() const
Deprecated. Use getRelativeJacobian() instead.
Definition: Joint.cpp:288
virtual std::size_t getIndexInSkeleton(std::size_t _index) const =0
Get a unique index in skeleton of a generalized coordinate in this Joint.
virtual bool isCyclic(std::size_t _index) const =0
Get whether a generalized coordinate is cyclic.
virtual Eigen::Vector6d getBodyConstraintWrench() const =0
Get constraint wrench expressed in body node frame.
virtual void setAccelerationUpperLimit(std::size_t _index, double _acceleration)=0
Set upper limit for acceleration.
class Skeleton
Definition: Skeleton.hpp:59
SoftBodyNode represent a soft body that has one deformable skin.
Definition: SoftBodyNode.hpp:46
#define DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(TypeName, AspectName)
Definition: Composite.hpp:164
Definition: MathTypes.hpp:47
Matrix< double, 6, 1 > Vector6d
Definition: MathTypes.hpp:49
Matrix< double, 6, 6 > Matrix6d
Definition: MathTypes.hpp:50
ActuatorType
Actuator type.
Definition: JointAspect.hpp:59
@ PASSIVE
Passive joint doesn't take any command input, and the output is joint acceleration.
Definition: JointAspect.hpp:72
@ FORCE
Command input is joint force, and the output is joint acceleration.
Definition: JointAspect.hpp:65
@ VELOCITY
Command input is joint velocity, and the output is joint force.
Definition: JointAspect.hpp:91
@ ACCELERATION
Command input is joint acceleration, and the output is joint force.
Definition: JointAspect.hpp:84
@ SERVO
Command input is desired velocity, and the output is joint acceleration.
Definition: JointAspect.hpp:78
@ LOCKED
Locked joint always set the velocity and acceleration to zero so that the joint dosen't move at all (...
Definition: JointAspect.hpp:98
std::shared_ptr< Skeleton > SkeletonPtr
Definition: SmartPointer.hpp:60
Eigen::Matrix< double, 6, Eigen::Dynamic > Jacobian
Definition: MathTypes.hpp:108
Definition: BulletCollisionDetector.cpp:63
Definition: SharedLibraryManager.hpp:43
CompositeProperties mCompositeProperties
Properties of all the Aspects attached to this Joint.
Definition: Joint.hpp:88
Definition: JointAspect.hpp:104