/usr/include/kdl/joint.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
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// 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>
#include <exception>
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 { RotAxis,RotX,RotY,RotZ,TransAxis,TransX,TransY,TransZ,None} JointType;
/**
* Constructor of a joint.
*
* @param name of the 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
*/
explicit Joint(const std::string& name, const JointType& type=None,const double& scale=1,const double& offset=0,
const double& inertia=0,const double& damping=0,const double& stiffness=0);
/**
* 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
*/
explicit 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);
/**
* Constructor of a joint.
*
* @param name of the joint
* @param origin the origin of the joint
* @param axis the axis of the joint
* @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 std::string& name, const Vector& _origin, const Vector& _axis, const JointType& type, const double& _scale=1, const double& _offset=0,
const double& _inertia=0, const double& _damping=0, const double& _stiffness=0);
/**
* Constructor of a joint.
*
* @param origin the origin of the joint
* @param axis the axis of the joint
* @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 Vector& _origin, const Vector& _axis, const JointType& type, const double& _scale=1, const double& _offset=0,
const double& _inertia=0, const double& _damping=0, const double& _stiffness=0);
/**
* 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)const;
/**
* Request the Vector corresponding to the axis of a revolute joint.
*
* @return Vector. e.g (1,0,0) for RotX etc.
*/
Vector JointAxis() const;
/**
* Request the Vector corresponding to the origin of a revolute joint.
*
* @return Vector
*/
Vector JointOrigin() const;
/**
* Request the name of the joint
*
*
* @return const reference to the name of the joint
*/
const std::string& getName()const
{
return name;
}
/**
* 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 RotAxis:
return "RotAxis";
case TransAxis:
return "TransAxis";
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 None:
return "None";
default:
return "None";
}
};
virtual ~Joint();
private:
std::string name;
Joint::JointType type;
double scale;
double offset;
double inertia;
double damping;
double stiffness;
// variables for RotAxis joint
Vector axis, origin;
mutable Frame joint_pose;
mutable double q_previous;
class joint_type_exception: public std::exception{
virtual const char* what() const throw(){
return "Joint Type excption";}
} joint_type_ex;
};
} // end of namespace KDL
#endif
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