Describes the properties of a joint used to initialize it.
[詳細]
#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.
kinbody.h の 661 行で定義されています。
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)
kinbody.h の 704 行で定義されています。
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.
kinbody.h の 702 行で定義されています。
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.
kinbody.h の 670 行で定義されています。
std::map<std::string, std::vector<dReal> > OpenRAVE::KinBody::JointInfo::_mapFloatParameters |
custom key-value pairs that could not be fit in the current model
kinbody.h の 693 行で定義されています。
std::map<std::string, std::vector<int> > OpenRAVE::KinBody::JointInfo::_mapIntParameters |
custom key-value pairs that could not be fit in the current model
kinbody.h の 694 行で定義されています。
std::string OpenRAVE::KinBody::JointInfo::_name |
The joint type.
the unique joint name
kinbody.h の 669 行で定義されています。
used if joint type is JointTrajectory
kinbody.h の 689 行で定義されています。
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
kinbody.h の 677 行で定義されています。
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
kinbody.h の 678 行で定義されています。
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vmaxtorque |
maximum torque (N.m, kg m^2/s^2) that can be applied to the joint
kinbody.h の 679 行で定義されています。
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vmaxvel |
the soft maximum velocity (rad/s) to move the joint when planning
kinbody.h の 676 行で定義されています。
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?
kinbody.h の 691 行で定義されています。
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]..
- 引数
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iaxis | the axis to get the offset from |
kinbody.h の 687 行で定義されています。
boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vresolution |
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.
kinbody.h の 680 行で定義されています。
このクラスの説明は次のファイルから生成されました: