Describes the properties of a joint used to initialize it.
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#include <kinbody.h>
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JointType | _type |
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std::string | _name |
| The joint type.
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std::string | _linkname0 |
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std::string | _linkname1 |
| attaching links, all axes and anchors are defined in the link pointed to by _linkname0 coordinate system. _linkname0 is usually the parent link.
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Vector | _vanchor |
| the anchor of the rotation axes defined in _linkname0's coordinate system. this is only used to construct the internal left/right matrices. passed into Joint::_ComputeInternalInformation
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boost::array< Vector, 3 > | _vaxes |
| axes in _linkname0's or environment coordinate system used to define joint movement. passed into Joint::_ComputeInternalInformation
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std::vector< dReal > | _vcurrentvalues |
| joint values at initialization. passed into Joint::_ComputeInternalInformation
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boost::array< dReal, 3 > | _vresolution |
| interpolation resolution
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boost::array< dReal, 3 > | _vmaxvel |
| the soft maximum velocity (rad/s) to move the joint when planning
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boost::array< dReal, 3 > | _vhardmaxvel |
| the hard maximum velocity, robot cannot exceed this velocity. used for verification checking
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boost::array< dReal, 3 > | _vmaxaccel |
| the maximum acceleration (rad/s^2) of the joint
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boost::array< dReal, 3 > | _vmaxtorque |
| maximum torque (N.m, kg m^2/s^2) that can be applied to the joint
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boost::array< dReal, 3 > | _vweights |
| the weights of the joint for computing distance metrics.
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boost::array< dReal, 3 > | _voffsets |
| internal offset parameter that determines the branch the angle centers on
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boost::array< dReal, 3 > | _vlowerlimit |
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boost::array< dReal, 3 > | _vupperlimit |
| joint limits
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TrajectoryBasePtr | _trajfollow |
| used if joint type is JointTrajectory
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boost::array< MimicInfoPtr, 3 > | _vmimic |
| the mimic properties of each of the joint axes. It is theoretically possible for a multi-dof joint to have one axes mimiced and the others free. When cloning, is it ok to copy this and assume it is constant?
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std::map< std::string,
std::vector< dReal > > | _mapFloatParameters |
| custom key-value pairs that could not be fit in the current model
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std::map< std::string,
std::vector< int > > | _mapIntParameters |
| custom key-value pairs that could not be fit in the current model
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boost::array< uint8_t, 3 > | _bIsCircular |
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bool | _bIsActive |
| if true, should belong to the DOF of the body, unless it is a mimic joint (_ComputeInternalInformation decides this)
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Describes the properties of a joint used to initialize it.
Definition at line 661 of file kinbody.h.
OpenRAVE::KinBody::JointInfo::JointInfo |
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virtual OpenRAVE::KinBody::JointInfo::~JointInfo |
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inlinevirtual |
bool OpenRAVE::KinBody::JointInfo::_bIsActive |
if true, should belong to the DOF of the body, unless it is a mimic joint (_ComputeInternalInformation decides this)
Definition at line 704 of file kinbody.h.
boost::array<uint8_t,3> OpenRAVE::KinBody::JointInfo::_bIsCircular |
true if joint axis has an identification at some of its lower and upper limits.
An identification of the lower and upper limits means that once the joint reaches its upper limits, it is also at its lower limit. The most common identification on revolute joints at -pi and pi. 'circularity' means the joint does not stop at limits. Although currently not developed, it could be possible to support identification for joints that are not revolute.
Definition at line 702 of file kinbody.h.
std::string OpenRAVE::KinBody::JointInfo::_linkname0 |
std::string OpenRAVE::KinBody::JointInfo::_linkname1 |
attaching links, all axes and anchors are defined in the link pointed to by _linkname0 coordinate system. _linkname0 is usually the parent link.
Definition at line 670 of file kinbody.h.
std::map<std::string, std::vector<dReal> > OpenRAVE::KinBody::JointInfo::_mapFloatParameters |
custom key-value pairs that could not be fit in the current model
Definition at line 693 of file kinbody.h.
std::map<std::string, std::vector<int> > OpenRAVE::KinBody::JointInfo::_mapIntParameters |
custom key-value pairs that could not be fit in the current model
Definition at line 694 of file kinbody.h.
std::string OpenRAVE::KinBody::JointInfo::_name |
The joint type.
the unique joint name
Definition at line 669 of file kinbody.h.
used if joint type is JointTrajectory
Definition at line 689 of file kinbody.h.
JointType OpenRAVE::KinBody::JointInfo::_type |
Vector OpenRAVE::KinBody::JointInfo::_vanchor |
boost::array<Vector,3> OpenRAVE::KinBody::JointInfo::_vaxes |
std::vector<dReal> OpenRAVE::KinBody::JointInfo::_vcurrentvalues |
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vhardmaxvel |
the hard maximum velocity, robot cannot exceed this velocity. used for verification checking
Definition at line 677 of file kinbody.h.
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vlowerlimit |
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vmaxaccel |
the maximum acceleration (rad/s^2) of the joint
Definition at line 678 of file kinbody.h.
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vmaxtorque |
maximum torque (N.m, kg m^2/s^2) that can be applied to the joint
Definition at line 679 of file kinbody.h.
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vmaxvel |
the soft maximum velocity (rad/s) to move the joint when planning
Definition at line 676 of file kinbody.h.
boost::array<MimicInfoPtr,3> OpenRAVE::KinBody::JointInfo::_vmimic |
the mimic properties of each of the joint axes. It is theoretically possible for a multi-dof joint to have one axes mimiced and the others free. When cloning, is it ok to copy this and assume it is constant?
Definition at line 691 of file kinbody.h.
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_voffsets |
internal offset parameter that determines the branch the angle centers on
Wrap offsets are needed for rotation joints since the range is limited to 2*pi. This allows the wrap offset to be set so the joint can function in [-pi+offset,pi+offset]..
- Parameters
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iaxis | the axis to get the offset from |
Definition at line 687 of file kinbody.h.
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vresolution |
interpolation resolution
Definition at line 675 of file kinbody.h.
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vupperlimit |
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vweights |
the weights of the joint for computing distance metrics.
Definition at line 680 of file kinbody.h.
The documentation for this class was generated from the following files: