Properties that are unique to PlanarJoints. More...
#include <PlanarJointAspect.hpp>
Public Member Functions | |
| PlanarJointUniqueProperties (PlaneType _planeType=PlaneType::XY) | |
| Constructor for pre-defined plane types. More... | |
| PlanarJointUniqueProperties (const Eigen::Vector3d &_transAxis1, const Eigen::Vector3d &_transAxis2) | |
| Constructor for arbitrary plane types. More... | |
| PlanarJointUniqueProperties (const PlanarJointUniqueProperties &other) | |
| Copy-constructor, customized for robustness. More... | |
| virtual | ~PlanarJointUniqueProperties ()=default |
| void | setXYPlane () |
| Set plane type as XY-plane. More... | |
| void | setYZPlane () |
| Set plane type as YZ-plane. More... | |
| void | setZXPlane () |
| Set plane type as ZX-plane. More... | |
| void | setArbitraryPlane (const Eigen::Vector3d &_transAxis1, const Eigen::Vector3d &_transAxis2) |
| Set plane type as arbitrary plane with two orthogonal translational axes. More... | |
Public Attributes | |
| PlaneType | mPlaneType |
| Plane type. More... | |
| Eigen::Vector3d | mTransAxis1 |
| First translational axis. More... | |
| Eigen::Vector3d | mTransAxis2 |
| Second translational axis. More... | |
| Eigen::Vector3d | mRotAxis |
| Rotational axis. More... | |
Detailed Description
Properties that are unique to PlanarJoints.
Note that the mPlaneType member has greater authority than the mTransAxis1 and mTransAxis2 members. When copying properties into a PlanarJoint, it will first defer to mPlaneType. If mPlaneType is PlaneType::ARBITRARY, then and only then will it use mTransAxis1 and mTransAxis2. mRotAxis has no authority; it will always be recomputed from mTransAxis1 and mTransAxis2 when copying it into a PlanarJoint
Constructor & Destructor Documentation
◆ PlanarJointUniqueProperties() [1/3]
| dart::dynamics::detail::PlanarJointUniqueProperties::PlanarJointUniqueProperties | ( | PlaneType | _planeType = PlaneType::XY | ) |
Constructor for pre-defined plane types.
Defaults to the XY plane if PlaneType::ARBITRARY is specified.
◆ PlanarJointUniqueProperties() [2/3]
| dart::dynamics::detail::PlanarJointUniqueProperties::PlanarJointUniqueProperties | ( | const Eigen::Vector3d & | _transAxis1, |
| const Eigen::Vector3d & | _transAxis2 | ||
| ) |
Constructor for arbitrary plane types.
mPlaneType will be set to PlaneType::ARBITRARY
◆ PlanarJointUniqueProperties() [3/3]
| dart::dynamics::detail::PlanarJointUniqueProperties::PlanarJointUniqueProperties | ( | const PlanarJointUniqueProperties & | other | ) |
Copy-constructor, customized for robustness.
◆ ~PlanarJointUniqueProperties()
|
virtualdefault |
Member Function Documentation
◆ setArbitraryPlane()
| void dart::dynamics::detail::PlanarJointUniqueProperties::setArbitraryPlane | ( | const Eigen::Vector3d & | _transAxis1, |
| const Eigen::Vector3d & | _transAxis2 | ||
| ) |
Set plane type as arbitrary plane with two orthogonal translational axes.
◆ setXYPlane()
| void dart::dynamics::detail::PlanarJointUniqueProperties::setXYPlane | ( | ) |
Set plane type as XY-plane.
◆ setYZPlane()
| void dart::dynamics::detail::PlanarJointUniqueProperties::setYZPlane | ( | ) |
Set plane type as YZ-plane.
◆ setZXPlane()
| void dart::dynamics::detail::PlanarJointUniqueProperties::setZXPlane | ( | ) |
Set plane type as ZX-plane.
Member Data Documentation
◆ mPlaneType
| PlaneType dart::dynamics::detail::PlanarJointUniqueProperties::mPlaneType |
Plane type.
◆ mRotAxis
| Eigen::Vector3d dart::dynamics::detail::PlanarJointUniqueProperties::mRotAxis |
Rotational axis.
◆ mTransAxis1
| Eigen::Vector3d dart::dynamics::detail::PlanarJointUniqueProperties::mTransAxis1 |
First translational axis.
◆ mTransAxis2
| Eigen::Vector3d dart::dynamics::detail::PlanarJointUniqueProperties::mTransAxis2 |
Second translational axis.
