#include <PlanarJointAspect.hpp>

Inheritance diagram for dart::dynamics::detail::PlanarJointProperties:

Public Types
using	EuclideanPoint = typename ConfigSpaceT::EuclideanPoint

using	Vector = typename ConfigSpaceT::Vector

using	BoolArray = std::array< bool, NumDofs >

using	StringArray = std::array< std::string, NumDofs >

Public Member Functions
	PlanarJointProperties (const GenericJoint< math::R3Space >::Properties &genericJointProperties=GenericJoint< math::R3Space >::Properties(), const PlanarJointUniqueProperties &planarProperties=PlanarJointUniqueProperties())

virtual	~PlanarJointProperties ()=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...

Static Public Member Functions
template<typename... Args>
static std::shared_ptr< PlanarJointProperties >	createShared (Args &&... args)

Public Attributes
std::string	mName
	Joint name. More...

Eigen::Isometry3d	mT_ParentBodyToJoint
	Transformation from parent BodyNode to this Joint. More...

Eigen::Isometry3d	mT_ChildBodyToJoint
	Transformation from child BodyNode to this Joint. More...

bool	mIsPositionLimitEnforced
	True if the joint limits should be enforced in dynamic simulation. More...

ActuatorType	mActuatorType
	Actuator type. More...

const Joint *	mMimicJoint
	Mimic joint. More...

double	mMimicMultiplier
	Mimic joint properties. More...

double	mMimicOffset

EuclideanPoint	mPositionLowerLimits
	Lower limit of position. More...

EuclideanPoint	mPositionUpperLimits
	Upper limit of position. More...

EuclideanPoint	mInitialPositions
	Initial positions. More...

Vector	mVelocityLowerLimits
	Min value allowed. More...

Vector	mVelocityUpperLimits
	Max value allowed. More...

Vector	mInitialVelocities
	Initial velocities. More...

Vector	mAccelerationLowerLimits
	Min value allowed. More...

Vector	mAccelerationUpperLimits
	upper limit of generalized acceleration More...

Vector	mForceLowerLimits
	Min value allowed. More...

Vector	mForceUpperLimits
	Max value allowed. More...

Vector	mSpringStiffnesses
	Joint spring stiffness. More...

EuclideanPoint	mRestPositions
	Rest joint position for joint spring. More...

Vector	mDampingCoefficients
	Joint damping coefficient. More...

Vector	mFrictions
	Joint Coulomb friction. More...

BoolArray	mPreserveDofNames
	True if the name of the corresponding DOF is not allowed to be overwritten. More...

StringArray	mDofNames
	The name of the DegreesOfFreedom for this Joint. More...

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...

Static Public Attributes
constexpr static std::size_t	NumDofs = ConfigSpaceT::NumDofs

Member Typedef Documentation

◆ BoolArray

template<class ConfigSpaceT >

using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::BoolArray = std::array<bool, NumDofs>

inherited

◆ EuclideanPoint

template<class ConfigSpaceT >

using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::EuclideanPoint = typename ConfigSpaceT::EuclideanPoint

inherited

◆ StringArray

template<class ConfigSpaceT >

using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::StringArray = std::array<std::string, NumDofs>

inherited

◆ Vector

template<class ConfigSpaceT >

using dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::Vector = typename ConfigSpaceT::Vector

inherited

Constructor & Destructor Documentation

◆ PlanarJointProperties()

dart::dynamics::detail::PlanarJointProperties::PlanarJointProperties	(	const GenericJoint< math::R3Space >::Properties &	genericJointProperties = `GenericJoint<math::R3Space>::Properties()`,
		const PlanarJointUniqueProperties &	planarProperties = `PlanarJointUniqueProperties()`
	)

◆ ~PlanarJointProperties()

virtual dart::dynamics::detail::PlanarJointProperties::~PlanarJointProperties ( )

virtualdefault

Member Function Documentation

◆ createShared()

template<typename... Args>

static std::shared_ptr< PlanarJointProperties > dart::dynamics::detail::PlanarJointProperties::createShared ( Args &&... args )

inlinestatic

Create shared instance of this class

◆ setArbitraryPlane()

void dart::dynamics::detail::PlanarJointUniqueProperties::setArbitraryPlane	(	const Eigen::Vector3d &	_transAxis1,
		const Eigen::Vector3d &	_transAxis2
	)

inherited

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

◆ setXYPlane()

void dart::dynamics::detail::PlanarJointUniqueProperties::setXYPlane ( )

inherited

Set plane type as XY-plane.

◆ setYZPlane()

void dart::dynamics::detail::PlanarJointUniqueProperties::setYZPlane ( )

inherited

Set plane type as YZ-plane.

◆ setZXPlane()

void dart::dynamics::detail::PlanarJointUniqueProperties::setZXPlane ( )

inherited

Set plane type as ZX-plane.

Member Data Documentation

◆ mAccelerationLowerLimits

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mAccelerationLowerLimits

inherited

Min value allowed.

◆ mAccelerationUpperLimits

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mAccelerationUpperLimits

inherited

upper limit of generalized acceleration

◆ mActuatorType

ActuatorType dart::dynamics::detail::JointProperties::mActuatorType

inherited

Actuator type.

◆ mDampingCoefficients

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mDampingCoefficients

inherited

Joint damping coefficient.

◆ mDofNames

template<class ConfigSpaceT >

StringArray dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mDofNames

inherited

The name of the DegreesOfFreedom for this Joint.

◆ mForceLowerLimits

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mForceLowerLimits

inherited

Min value allowed.

◆ mForceUpperLimits

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mForceUpperLimits

inherited

Max value allowed.

◆ mFrictions

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mFrictions

inherited

Joint Coulomb friction.

◆ mInitialPositions

template<class ConfigSpaceT >

EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mInitialPositions

inherited

Initial positions.

◆ mInitialVelocities

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mInitialVelocities

inherited

Initial velocities.

◆ mIsPositionLimitEnforced

bool dart::dynamics::detail::JointProperties::mIsPositionLimitEnforced

inherited

True if the joint limits should be enforced in dynamic simulation.

◆ mMimicJoint

const Joint* dart::dynamics::detail::JointProperties::mMimicJoint

inherited

Mimic joint.

◆ mMimicMultiplier

double dart::dynamics::detail::JointProperties::mMimicMultiplier

inherited

Mimic joint properties.

◆ mMimicOffset

double dart::dynamics::detail::JointProperties::mMimicOffset

inherited

◆ mName

std::string dart::dynamics::detail::JointProperties::mName

inherited

Joint name.

◆ mPlaneType

PlaneType dart::dynamics::detail::PlanarJointUniqueProperties::mPlaneType

inherited

Plane type.

◆ mPositionLowerLimits

template<class ConfigSpaceT >

EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mPositionLowerLimits

inherited

Lower limit of position.

◆ mPositionUpperLimits

template<class ConfigSpaceT >

EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mPositionUpperLimits

inherited

Upper limit of position.

◆ mPreserveDofNames

template<class ConfigSpaceT >

BoolArray dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mPreserveDofNames

inherited

True if the name of the corresponding DOF is not allowed to be overwritten.

◆ mRestPositions

template<class ConfigSpaceT >

EuclideanPoint dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mRestPositions

inherited

Rest joint position for joint spring.

◆ mRotAxis

Eigen::Vector3d dart::dynamics::detail::PlanarJointUniqueProperties::mRotAxis

inherited

Rotational axis.

◆ mSpringStiffnesses

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mSpringStiffnesses

inherited

Joint spring stiffness.

◆ mT_ChildBodyToJoint

Eigen::Isometry3d dart::dynamics::detail::JointProperties::mT_ChildBodyToJoint

inherited

Transformation from child BodyNode to this Joint.

◆ mT_ParentBodyToJoint

Eigen::Isometry3d dart::dynamics::detail::JointProperties::mT_ParentBodyToJoint

inherited

Transformation from parent BodyNode to this Joint.

◆ mTransAxis1

Eigen::Vector3d dart::dynamics::detail::PlanarJointUniqueProperties::mTransAxis1

inherited

First translational axis.

◆ mTransAxis2

Eigen::Vector3d dart::dynamics::detail::PlanarJointUniqueProperties::mTransAxis2

inherited

Second translational axis.

◆ mVelocityLowerLimits

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mVelocityLowerLimits

inherited

Min value allowed.

◆ mVelocityUpperLimits

template<class ConfigSpaceT >

Vector dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::mVelocityUpperLimits

inherited

Max value allowed.

◆ NumDofs

template<class ConfigSpaceT >

constexpr std::size_t dart::dynamics::detail::GenericJointUniqueProperties< ConfigSpaceT >::NumDofs = ConfigSpaceT::NumDofs

staticconstexprinherited

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Member Typedef Documentation

◆ BoolArray

◆ EuclideanPoint

◆ StringArray

◆ Vector

Constructor & Destructor Documentation

◆ PlanarJointProperties()

◆ ~PlanarJointProperties()

Member Function Documentation

◆ createShared()

◆ setArbitraryPlane()

◆ setXYPlane()

◆ setYZPlane()

◆ setZXPlane()

Member Data Documentation

◆ mAccelerationLowerLimits

◆ mAccelerationUpperLimits

◆ mActuatorType

◆ mDampingCoefficients

◆ mDofNames

◆ mForceLowerLimits

◆ mForceUpperLimits

◆ mFrictions

◆ mInitialPositions

◆ mInitialVelocities

◆ mIsPositionLimitEnforced

◆ mMimicJoint

◆ mMimicMultiplier

◆ mMimicOffset

◆ mName

◆ mPlaneType

◆ mPositionLowerLimits

◆ mPositionUpperLimits

◆ mPreserveDofNames

◆ mRestPositions

◆ mRotAxis

◆ mSpringStiffnesses

◆ mT_ChildBodyToJoint

◆ mT_ParentBodyToJoint

◆ mTransAxis1

◆ mTransAxis2

◆ mVelocityLowerLimits

◆ mVelocityUpperLimits

◆ NumDofs