Joint Class Reference

Base class for all joints. More...

#include <Joint.hh>

Inheritance diagram for Joint:

List of all members.

Public Types
enum	Attribute {   FUDGE_FACTOR, SUSPENSION_ERP, SUSPENSION_CFM, STOP_ERP,   STOP_CFM, ERP, CFM, FMAX,   VEL, HI_STOP, LO_STOP }
	Type of joint.
Public Member Functions
	Joint ()
	Constructor.
virtual	~Joint ()
	Destructor.
virtual void	Load (sdf::ElementPtr &_sdf)
	Load a joint.
virtual void	Init ()
	Initialize a joint.
void	Update ()
	Update the joint.
virtual void	UpdateParameters (sdf::ElementPtr &_sdf)
	update the parameters using new sdf values
void	ShowJoints (const bool &s)
	Set the joint to show visuals.
virtual void	Reset ()
	Reset the joint.
void	SetModel (ModelPtr model)
	Set the model this joint belongs too.
virtual LinkPtr	GetJointLink (int index) const =0
	Get the link to which the joint is attached according the _index.
virtual bool	AreConnected (LinkPtr one, LinkPtr two) const =0
	Determines of the two bodies are connected by a joint.
virtual void	Attach (LinkPtr parent, LinkPtr child)
	Attach the two bodies with this joint.
virtual void	Detach ()=0
	Detach this joint from all bodies.
virtual void	SetAxis (int index, const math::Vector3 &axis)=0
	Set the axis of rotation.
virtual void	SetDamping (int index, const double damping)=0
	Set the joint damping.
template<typename T >
event::ConnectionPtr	ConnectJointUpdate (T subscriber)
	Connect a boost::slot the the joint update signal.
void	DisconnectJointUpdate (event::ConnectionPtr &c)
	Disconnect a boost::slot the the joint update signal.
math::Vector3	GetLocalAxis (int _index) const
	Get the axis of rotation.
virtual math::Vector3	GetGlobalAxis (int _index) const =0
virtual void	SetAnchor (int index, const math::Vector3 &anchor)=0
	Set the anchor point.
virtual math::Vector3	GetAnchor (int index) const =0
	Get the anchor point.
virtual void	SetHighStop (int index, math::Angle angle)=0
	Set the high stop of an axis(index).
virtual void	SetLowStop (int index, math::Angle angle)=0
	Set the low stop of an axis(index).
virtual math::Angle	GetHighStop (int index)=0
	Get the high stop of an axis(index).
virtual math::Angle	GetLowStop (int index)=0
	Get the low stop of an axis(index).
virtual void	SetVelocity (int index, double v)=0
	Set the velocity of an axis(index).
virtual double	GetVelocity (int index) const =0
	Get the rotation rate of an axis(index)
virtual void	SetForce (int, double)
	Set the force applied to an axis.
virtual double	GetForce (int)
	Get the force applied to an axis.
virtual void	SetMaxForce (int index, double t)=0
	Set the max allowed force of an axis(index).
virtual double	GetMaxForce (int index)=0
	Get the max allowed force of an axis(index).
math::Angle	GetAngle (int index) const
	Get the angle of rotation of an axis(index)
void	SetAngle (int _index, math::Angle _angle)
	Set the angle of rotation.
virtual math::Vector3	GetLinkForce (unsigned int index) const =0
	Get the force the joint applies to the first link.
virtual math::Vector3	GetLinkTorque (unsigned int index) const =0
	Get the torque the joint applies to the first link.
virtual void	SetAttribute (Attribute, int index, double value)=0
	Set a parameter for the joint.
LinkPtr	GetChild () const
	Get the child link.
LinkPtr	GetParent () const
	Get the child link.
void	FillJointMsg (msgs::Joint &_msg)
	Fill a joint message.
Protected Member Functions
virtual math::Angle	GetAngleImpl (int _index) const =0
Protected Attributes
LinkPtr	childLink
	The first link this joint connects to.
LinkPtr	parentLink
	The second link this joint connects to.
std::string	visual
std::string	line1
std::string	line2
bool	showJoints
ModelPtr	model
math::Vector3	anchorPos
LinkPtr	anchorLink
double	damping_coefficient
transport::PublisherPtr	vis_pub

---

Detailed Description

Base class for all joints.

---

Member Function Documentation

virtual math::Vector3 GetLinkForce

(

unsigned int

index

)

const [pure virtual]

Get the force the joint applies to the first link.

Parameters:

index

The index of the link( 0 or 1 )

Implemented in ODEJoint.

virtual math::Vector3 GetLinkTorque

(

unsigned int

index

)

const [pure virtual]

Get the torque the joint applies to the first link.

Parameters:

index

The index of the link( 0 or 1 )

Implemented in ODEJoint.

void SetAngle	(	int	_index,
		math::Angle	_angle
	)

Set the angle of rotation.

This will not move the joint. The purpose of this function is purely to support animation of static models.

---

The documentation for this class was generated from the following file:

• Joint.hh