gcop::Joint Class Reference

#include <joint.h>

List of all members.

Public Member Functions
	Joint ()
	Joint (const Vector6d &a, const Matrix4d &gp, const Matrix4d &gc, double damping=0, double friction=0)
virtual	~Joint ()
void	Init ()
Public Attributes
Vector6d	a
	axis
Matrix4d	gp
	fixed xform from parent to joint
Matrix4d	gc
	fixed xfom from child to joint
double	damping
	damping terms: Ns/m for trans or Nm s/rad for rev
double	friction
	static friction: N for prismatic, Nm for rev
double	lower
	lower limit (for revolute or prismatic joints)
double	upper
	upper limit (for revolute or prismatic joints)
Matrix6d	Ac
	change of frame Ad(gc)
Matrix4d	gpi
	from parent to joint inverse
Matrix4d	gci
	from child to joint inverse
Vector6d	S
	Jacobian S=Ac*a.
string	name
	Unique name of the joint.

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Constructor & Destructor Documentation

Joint::Joint

(

)

References Init().

Joint::Joint	(	const Vector6d &	a,
		const Matrix4d &	gp,
		const Matrix4d &	gc,
		double	damping = 0,
		double	friction = 0
	)

References Init().

Joint::~Joint

(

)

[virtual]

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Member Function Documentation

void Joint::Init

(

)

References a, Ac, gcop::SE3::Ad(), gc, gci, gp, gpi, gcop::SE3::Instance(), gcop::SE3::inv(), and S.

Referenced by gcop::Mbs::Init(), and Joint().

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Member Data Documentation

Vector6d gcop::Joint::a

axis

Referenced by Init(), and gcop::Mbs::KStep().

Matrix6d gcop::Joint::Ac

change of frame Ad(gc)

Referenced by Init().

double gcop::Joint::damping

damping terms: Ns/m for trans or Nm s/rad for rev

double gcop::Joint::friction

static friction: N for prismatic, Nm for rev

Matrix4d gcop::Joint::gc

fixed xfom from child to joint

Referenced by Init().

Matrix4d gcop::Joint::gci

from child to joint inverse

Referenced by Init(), and gcop::Mbs::KStep().

Matrix4d gcop::Joint::gp

fixed xform from parent to joint

Referenced by Init(), and gcop::Mbs::KStep().

Matrix4d gcop::Joint::gpi

from parent to joint inverse

Referenced by Init().

double gcop::Joint::lower

lower limit (for revolute or prismatic joints)

string gcop::Joint::name

Unique name of the joint.

Vector6d gcop::Joint::S

Jacobian S=Ac*a.

Referenced by Init(), and gcop::Mbs::NewtonEulerJacobian().

double gcop::Joint::upper

upper limit (for revolute or prismatic joints)

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

• lib/systems/joint.h
• lib/systems/joint.cc