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クラス OpenRAVE::KinBody::JointInfo

Describes the properties of a joint used to initialize it. [詳細]

#include <kinbody.h>

OpenRAVE::KinBody::JointInfoに対する継承グラフ
Inheritance graph
[凡例]
OpenRAVE::KinBody::JointInfoのコラボレーション図
Collaboration graph
[凡例]

Public メソッド

 JointInfo ()
 
virtual ~JointInfo ()
 
- Public メソッド inherited from OpenRAVE::XMLReadable
 XMLReadable (const std::string &xmlid)
 
virtual ~XMLReadable ()
 
virtual const std::string & GetXMLId () const
 
virtual void Serialize (BaseXMLWriterPtr writer, int options=0) const
 serializes the interface
 
- Public メソッド inherited from OpenRAVE::UserData
virtual ~UserData ()
 

Public 変数

JointType _type
 
std::string _name
 The joint type.
 
std::string _linkname0
 
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.
 
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
 
boost::array< Vector, 3 > _vaxes
 axes in _linkname0's or environment coordinate system used to define joint movement. passed into Joint::_ComputeInternalInformation
 
std::vector< dReal_vcurrentvalues
 joint values at initialization. passed into Joint::_ComputeInternalInformation
 
boost::array< dReal, 3 > _vresolution
 interpolation resolution
 
boost::array< dReal, 3 > _vmaxvel
 the soft maximum velocity (rad/s) to move the joint when planning
 
boost::array< dReal, 3 > _vhardmaxvel
 the hard maximum velocity, robot cannot exceed this velocity. used for verification checking
 
boost::array< dReal, 3 > _vmaxaccel
 the maximum acceleration (rad/s^2) of the joint
 
boost::array< dReal, 3 > _vmaxtorque
 maximum torque (N.m, kg m^2/s^2) that can be applied to the joint
 
boost::array< dReal, 3 > _vweights
 the weights of the joint for computing distance metrics.
 
boost::array< dReal, 3 > _voffsets
 internal offset parameter that determines the branch the angle centers on
 
boost::array< dReal, 3 > _vlowerlimit
 
boost::array< dReal, 3 > _vupperlimit
 joint limits
 
TrajectoryBasePtr _trajfollow
 used if joint type is JointTrajectory
 
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?
 
std::map< std::string,
std::vector< dReal > > 
_mapFloatParameters
 custom key-value pairs that could not be fit in the current model
 
std::map< std::string,
std::vector< int > > 
_mapIntParameters
 custom key-value pairs that could not be fit in the current model
 
boost::array< uint8_t, 3 > _bIsCircular
 
bool _bIsActive
 if true, should belong to the DOF of the body, unless it is a mimic joint (_ComputeInternalInformation decides this)
 

説明

Describes the properties of a joint used to initialize it.

kinbody.h661 行で定義されています。

コンストラクタとデストラクタ

OpenRAVE::KinBody::JointInfo::JointInfo ( )

kinbodyjoint.cpp26 行で定義されています。

virtual OpenRAVE::KinBody::JointInfo::~JointInfo ( )
inlinevirtual

kinbody.h665 行で定義されています。

変数

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.h704 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.h702 行で定義されています。

std::string OpenRAVE::KinBody::JointInfo::_linkname0

kinbody.h670 行で定義されています。

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.h670 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.h693 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.h694 行で定義されています。

std::string OpenRAVE::KinBody::JointInfo::_name

The joint type.

the unique joint name

kinbody.h669 行で定義されています。

TrajectoryBasePtr OpenRAVE::KinBody::JointInfo::_trajfollow

used if joint type is JointTrajectory

kinbody.h689 行で定義されています。

JointType OpenRAVE::KinBody::JointInfo::_type

kinbody.h668 行で定義されています。

Vector OpenRAVE::KinBody::JointInfo::_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

kinbody.h671 行で定義されています。

boost::array<Vector,3> OpenRAVE::KinBody::JointInfo::_vaxes

axes in _linkname0's or environment coordinate system used to define joint movement. passed into Joint::_ComputeInternalInformation

kinbody.h672 行で定義されています。

std::vector<dReal> OpenRAVE::KinBody::JointInfo::_vcurrentvalues

joint values at initialization. passed into Joint::_ComputeInternalInformation

kinbody.h673 行で定義されています。

boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vhardmaxvel

the hard maximum velocity, robot cannot exceed this velocity. used for verification checking

kinbody.h677 行で定義されています。

boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vlowerlimit

kinbody.h688 行で定義されています。

boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vmaxaccel

the maximum acceleration (rad/s^2) of the joint

kinbody.h678 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.h679 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.h676 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.h691 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
iaxisthe axis to get the offset from

kinbody.h687 行で定義されています。

boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vresolution

interpolation resolution

kinbody.h675 行で定義されています。

boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vupperlimit

joint limits

kinbody.h688 行で定義されています。

boost::array<dReal,3> OpenRAVE::KinBody::JointInfo::_vweights

the weights of the joint for computing distance metrics.

kinbody.h680 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: