ERC CISST - cisst software

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robJoint Class Reference

#include <robJoint.h>

Inheritance diagram for robJoint:

[legend]Collaboration diagram for robJoint:

[legend]List of all members.

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Detailed Description

These are used to identify the type of joints.

Definition at line 29 of file robJoint.h.

Public Types

• enum Type { HINGE, SLIDER, UNIVERSAL, BALLSOCKET }
• enum Mode

  Each joint can be active (powered by a motor) or passive.
  

• enum Errno

Public Member Functions

• robJoint ()

  Default constructor.
  

• robJoint (robJoint::Type type, robJoint::Mode mode, double offset, double min, double max, double ftmax)
• robJoint::Type GetType () const

  Returns:

  The type of the joint (hinge, slider, universal, ball and socket)

  
  

• robJoint::Mode GetMode () const

  Returns:

  The mode of the joint (active or passive)

  
  

• double GetPosition () const

  If supported, this returns the joint position.
  

• double GetVelocity () const

  If supported, this returns the joint velocity.
  

• double GetForceTorque () const

  If supported, this returns the joint force or torque.
  

• void SetPosition (double q)

  If supported, this sets the joint position.
  

• void SetVelocity (double qd)

  If supported, this sets the joint velocity.
  

• void SetForceTorque (double ft)

  If supported, this sets the force/torque.
  

• double PositionOffset () const

  Returns:

  The offset position of the joint.

  
  

• double PositionMin () const

  Returns:

  The minimum position of the joint.

  
  

• double PositionMax () const

  Returns:

  The maximum position of the joint.

  
  

• double ForceTorqueMax () const

  Returns:

  The absolute value for the maximum force or torque that can be applied by the joint.

  
  

• robJoint::Errno ReadJoint (std::istream &is)

  Use this method to configure the parameters of the joints from an input stream.
  

• robJoint::Errno WriteJoint (std::ostream &os) const

  Use this method to write the parameters of the joints to an output stream.
  

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Member Function Documentation

double robJoint::GetPosition

(

)

const

If supported, this returns the joint position.

Returns:

The joint angular or linear position (no unit)

double robJoint::GetVelocity

(

)

const

If supported, this returns the joint velocity.

Returns:

The joint angular or linear velocity (no unit)

double robJoint::GetForceTorque

(

)

const

If supported, this returns the joint force or torque.

Returns:

The joint torque or force (no unit)

void robJoint::SetPosition

(

double

q

)

If supported, this sets the joint position.

The position is NOT clipped to the position limits.

Parameters:

q

The new joint angular or linear position

void robJoint::SetVelocity

(

double

qd

)

If supported, this sets the joint velocity.

The velocity is NOT clipped to the velocity limit.

Parameters:

qd

The new joint angular or linear velocity.

void robJoint::SetForceTorque

(

double

ft

)

If supported, this sets the force/torque.

The new value is NOT clipped to the force/torque limit.

Parameters:

ft

The new force/torque

double robJoint::PositionOffset

(

)

const

Returns:

The offset position of the joint.

This value has no unit.

double robJoint::PositionMin

(

)

const

Returns:

The minimum position of the joint.

This value has no unit.

double robJoint::PositionMax

(

)

const

Returns:

The maximum position of the joint.

This value has no unit.

robJoint::Errno robJoint::ReadJoint

(

std::istream &

is

)

Use this method to configure the parameters of the joints from an input stream.

The parameters are in the following order: type, mode, position offset, min position, max position, max force/torque.

Parameters:

is[in]

The input stream

robJoint::Errno robJoint::WriteJoint

(

std::ostream &

os

)

const

Use this method to write the parameters of the joints to an output stream.

This method can be overloaded for more specific joints.

Parameters:

os[in]

The output stream

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

• robJoint.h

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