139 lines
4.3 KiB
C++
139 lines
4.3 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
|
|
|
// Version: 1.0
|
|
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
|
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
|
// URL: http://www.orocos.org/kdl
|
|
|
|
// This library is free software; you can redistribute it and/or
|
|
// modify it under the terms of the GNU Lesser General Public
|
|
// License as published by the Free Software Foundation; either
|
|
// version 2.1 of the License, or (at your option) any later version.
|
|
|
|
// This library is distributed in the hope that it will be useful,
|
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
// Lesser General Public License for more details.
|
|
|
|
// You should have received a copy of the GNU Lesser General Public
|
|
// License along with this library; if not, write to the Free Software
|
|
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
|
|
#ifndef KDL_JOINT_HPP
|
|
#define KDL_JOINT_HPP
|
|
|
|
#include "frames.hpp"
|
|
#include <string>
|
|
|
|
namespace KDL {
|
|
|
|
/**
|
|
* \brief This class encapsulates a simple joint, that is with one
|
|
* parameterized degree of freedom and with scalar dynamic properties.
|
|
*
|
|
* A simple joint is described by the following properties :
|
|
* - scale: ratio between motion input and motion output
|
|
* - offset: between the "physical" and the "logical" zero position.
|
|
* - type: revolute or translational, along one of the basic frame axes
|
|
* - inertia, stiffness and damping: scalars representing the physical
|
|
* effects along/about the joint axis only.
|
|
*
|
|
* @ingroup KinematicFamily
|
|
*/
|
|
class Joint {
|
|
public:
|
|
typedef enum { RotX,RotY,RotZ,TransX,TransY,TransZ,Sphere,Swing,None} JointType;
|
|
/**
|
|
* Constructor of a joint.
|
|
*
|
|
* @param type type of the joint, default: Joint::None
|
|
* @param scale scale between joint input and actual geometric
|
|
* movement, default: 1
|
|
* @param offset offset between joint input and actual
|
|
* geometric input, default: 0
|
|
* @param inertia 1D inertia along the joint axis, default: 0
|
|
* @param damping 1D damping along the joint axis, default: 0
|
|
* @param stiffness 1D stiffness along the joint axis,
|
|
* default: 0
|
|
*/
|
|
Joint(const JointType& type=None,const double& scale=1,const double& offset=0,
|
|
const double& inertia=0,const double& damping=0,const double& stiffness=0);
|
|
Joint(const Joint& in);
|
|
|
|
Joint& operator=(const Joint& arg);
|
|
|
|
/**
|
|
* Request the 6D-pose between the beginning and the end of
|
|
* the joint at joint position q
|
|
*
|
|
* @param q the 1D joint position
|
|
*
|
|
* @return the resulting 6D-pose
|
|
*/
|
|
Frame pose(const double* q)const;
|
|
/**
|
|
* Request the resulting 6D-velocity with a joint velocity qdot
|
|
*
|
|
* @param qdot the 1D joint velocity
|
|
*
|
|
* @return the resulting 6D-velocity
|
|
*/
|
|
Twist twist(const double& qdot, int dof=0)const;
|
|
|
|
/**
|
|
* Request the type of the joint.
|
|
*
|
|
* @return const reference to the type
|
|
*/
|
|
const JointType& getType() const
|
|
{
|
|
return type;
|
|
};
|
|
|
|
/**
|
|
* Request the stringified type of the joint.
|
|
*
|
|
* @return const string
|
|
*/
|
|
const std::string getTypeName() const
|
|
{
|
|
switch (type) {
|
|
case RotX:
|
|
return "RotX";
|
|
case RotY:
|
|
return "RotY";
|
|
case RotZ:
|
|
return "RotZ";
|
|
case TransX:
|
|
return "TransX";
|
|
case TransY:
|
|
return "TransY";
|
|
case TransZ:
|
|
return "TransZ";
|
|
case Sphere:
|
|
return "Sphere";
|
|
case Swing:
|
|
return "Swing";
|
|
case None:
|
|
return "None";
|
|
default:
|
|
return "None";
|
|
}
|
|
};
|
|
unsigned int getNDof() const;
|
|
|
|
virtual ~Joint();
|
|
|
|
private:
|
|
Joint::JointType type;
|
|
double scale;
|
|
double offset;
|
|
double inertia;
|
|
double damping;
|
|
double stiffness;
|
|
};
|
|
|
|
} // end of namespace KDL
|
|
|
|
#endif
|