dart::dynamics::EulerJoint Class Reference

class EulerJoint More...

#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.