#include <Joint.h>
Inheritance diagram for Physsim::Joint:
Public Types | |
| enum | DOFs { DOF_1 = 0, DOF_2 = 1, DOF_3 = 2, DOF_4 = 3, DOF_5 = 4, DOF_6 = 5 } |
Public Member Functions | |
| Joint () | |
| Initializes the joint. | |
| Joint (boost::weak_ptr< RigidBody > inboard, boost::weak_ptr< RigidBody > outboard) | |
| Initializes the joint with the specified inboard and outboard links. | |
| virtual void | clone (BasePtr &cloned, bimap< BasePtr, BasePtr > *obj_map=NULL) const |
| Clones this link. | |
| virtual bool | is_struct_identical (BaseConstPtr object) const |
| Verifies that two object structures are identical. | |
| virtual void | load_state (BaseConstPtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) |
| Loads this object with data from an object. | |
| virtual void | save_state (BasePtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) const |
| Saves this data state to a Joint object. | |
| void | set_q (const VectorN &q) |
| Sets the position(s) for this joint. | |
| void | set_qd (const VectorN &qd) |
| Sets the velocity for this joint. | |
| void | add_force (const VectorN &force) |
| Adds to the force / torque produced by this joint's actuator. | |
| void | reset_force () |
| Resets the force / torque produced by this joint's actuator. | |
| virtual const SMatrixN & | get_spatial_axes (ReferenceFrameType type) |
| Gets the spatial axis for this joint. | |
| void | reset_spatial_axis () |
| Resets the computation for this joint. | |
| Vector3 | get_position_global () const |
| Gets the global position of this joint. | |
| VectorN | get_scaled_force () |
| Gets the scaled and limited actuator forces. | |
| VectorN | compute_joint_friction_forces () const |
| Gets the frictional forces, if any, at this joint. | |
| virtual void | save_to_xml (XMLTreePtr node, std::list< BaseConstPtr > &shared_objects) const |
| Implements Base::save_to_xml(). | |
| virtual void | load_from_xml (XMLTreeConstPtr node, std::map< std::string, BasePtr > &id_map) |
| Implements Base::load_from_xml(). | |
| virtual void | set_inboard_link (RigidBodyPtr link) |
| Sets the pointer to the inboard link for this joint (and updates the spatial axis, if the outboard link has been set). | |
| virtual void | set_outboard_link (RigidBodyPtr link) |
| Sets the pointer to the outboard link for this joint. | |
| virtual bool | is_singular_config () const=0 |
| Gets whether this joint is in a singular configuration. | |
| JointPtr | get_this () |
| Gets the shared pointer to this joint. | |
| JointConstPtr | get_this () const |
| Gets the constant shared pointer to this joint. | |
| virtual const SMatrixN & | get_spatial_axes_deriv (ReferenceFrameType type)=0 |
| Abstract method to get the spatial axis derivative for this joint. | |
| virtual const Matrix4 & | get_transform ()=0 |
| Abstract method to get the local transform for this joint. | |
| virtual void | update_spatial_axes ()=0 |
| Abstract method to update the local spatial axes. | |
| virtual void | determine_Q ()=0 |
| Abstract method to determine the value of Q (joint position) from current transforms. | |
| virtual unsigned | get_num_dof () const=0 |
| Gets the number of degrees-of-freedom for this joint. | |
| const VectorN & | get_max_force () const |
| Gets the maximum allowable force / torque that the actuator of this joint is capable of producing. | |
| const VectorN & | get_q () const |
| Gets the current position of this joint. | |
| const VectorN & | get_qd () const |
| Gets the current velocity of this joint. | |
| const VectorN & | get_qdd () const |
| Gets the current acceleration of this joint. | |
| const VectorN & | get_low_limit () const |
| Gets the lower positional limit for this joint. | |
| const VectorN & | get_high_limit () const |
| Gets the upper positional limit for this joint. | |
| Real | get_joint_limit_rcoeff () const |
| Gets the coefficient of restitution for joint limit violations (0..1). | |
| Real | get_joint_limit_kp () const |
| Gets the spring constant value for joint limit violations (0..infinity). | |
| Real | get_joint_limit_kv () const |
| Gets the damping constant value for joint limit violations (0..infinity). | |
| const VectorN & | get_joint_viscous_mu () const |
| Gets the viscous friction coefficients for this joint (zero by default). | |
| const VectorN & | get_joint_coulomb_mu () const |
| Gets the Coulomb friction coefficients for this joint (zero by default). | |
| boost::weak_ptr< RigidBody > | get_inboard_link () const |
| Gets the inboard link for this joint. | |
| boost::weak_ptr< RigidBody > | get_outboard_link () const |
| Gets the outboard link for this joint. | |
| const VectorN & | get_force () const |
| Gets the force / torque applied by this joint's actuator. | |
| void | set_joint_limit_rcoeff (Real joint_limit_rcoeff) |
| Sets the coefficient of restitution for joint limit violations (0..1). | |
| void | set_joint_limit_kp (Real kp) |
| Sets the spring constant value for joint limit violations (0..infinity). | |
| void | set_joint_limit_kv (Real kv) |
| Sets the damping constant value for joint limit violations (0..infinity). | |
| void | set_max_force (const VectorN &maxforce) |
| Sets the maximum producable force / torque by this joint's actuator. | |
| void | set_qdd (const VectorN &qdd) |
| Sets the acceleration for this joint. | |
| void | set_joint_viscous_mu (const VectorN &mu) |
| Sets the viscous friction coefficients for this joint (zero by default). | |
| void | set_joint_coulomb_mu (const VectorN &mu) |
| Sets the Coulomb friction coefficients for this joint (zero by default). | |
| void | set_low_limit (const VectorN &lolimit) |
| Sets the lower positional limits for this joint. | |
| void | set_high_limit (const VectorN &hilimit) |
| Sets the upper positional limits for this joint. | |
| boost::weak_ptr< ArticulatedBody > | get_articulated_body () |
| Gets the articulated body corresponding to this body. | |
| void | set_articulated_body (ArticulatedBodyPtr abody) |
| Sets the articulated body corresponding to this body. | |
Protected Member Functions | |
| void | init_data () |
| Method for initializing all variables in the joint. | |
Protected Attributes | |
| SMatrixN | _si |
| SMatrixNPtr | _s0 |
| Joint::Joint | ( | ) |
Initializes the joint.
The coefficient of restitution and the spring and damping constants for the joint limits are set to 0. The inboard and outboard links are set to NULL.
Initializes the joint with the specified inboard and outboard links.
The joint-limit coefficient of restitution and the spring and damping constants for the joint limits are set to 0. Note that it is possible that the inboard link is NULL, indicating that this joint connects the base to the outboard link.
| void Joint::clone | ( | BasePtr & | cloned, | |
| bimap< BasePtr, BasePtr > * | object_map = NULL | |||
| ) | const [virtual] |
Clones this link.
Performs a shallow copy of the underlying collision geometry and visualization data.
Reimplemented from Physsim::Visualizable.
Reimplemented in Physsim::PrismaticJoint, Physsim::RevoluteJoint, Physsim::SphericalJoint, and Physsim::UniversalJoint.
| void Joint::load_state | ( | BaseConstPtr | object, | |
| bimap< BasePtr, BasePtr > * | correspondence = NULL | |||
| ) | [virtual] |
Loads this object with data from an object.
This and the object must have exactly the same structure (i.e., one/none inboard link, one/none outboard link, one/none art. body pointer; additionally, inboard and outboard links and articulated body must have the same structure.
Reimplemented from Physsim::Visualizable.
Reimplemented in Physsim::PrismaticJoint, Physsim::RevoluteJoint, Physsim::SphericalJoint, and Physsim::UniversalJoint.
| void Joint::save_state | ( | BasePtr | object, | |
| bimap< BasePtr, BasePtr > * | correspondence = NULL | |||
| ) | const [virtual] |
Saves this data state to a Joint object.
This and the object must have exactly the same structure (i.e., one/none inboard link, one/none outboard link, one/none art. body pointer; additionally, inboard and outboard links and articulated body must have the same structure.
Reimplemented from Physsim::Visualizable.
Reimplemented in Physsim::PrismaticJoint, Physsim::RevoluteJoint, Physsim::SphericalJoint, and Physsim::UniversalJoint.
| void Joint::set_q | ( | const VectorN & | q | ) |
Sets the position(s) for this joint.
| q | the new position for the joint |
| void Joint::set_qd | ( | const VectorN & | qd | ) |
Sets the velocity for this joint.
| VectorN Joint::compute_joint_friction_forces | ( | ) | const |
Gets the frictional forces, if any, at this joint.
The model is somewhat simple: each joint has associated Coulombic friction and viscous friction coefficients. Coulomb friction is computed as -mu_coulomb * sgn(qd) while viscous friction is computed as -mu_viscous * qd.
| void Joint::set_outboard_link | ( | RigidBodyPtr | outboard | ) | [virtual] |
Sets the pointer to the outboard link for this joint.
| virtual const SMatrixN& Physsim::Joint::get_spatial_axes_deriv | ( | ReferenceFrameType | type | ) | [pure virtual] |
Abstract method to get the spatial axis derivative for this joint.
The time-derivative of the constraint equation is a scalar function that returns zero when the constraint is perfectly satisfied.
Implemented in Physsim::PrismaticJoint, Physsim::RevoluteJoint, Physsim::SphericalJoint, and Physsim::UniversalJoint.
| const VectorN& Physsim::Joint::get_low_limit | ( | ) | const [inline] |
Gets the lower positional limit for this joint.
| const VectorN& Physsim::Joint::get_high_limit | ( | ) | const [inline] |
Gets the upper positional limit for this joint.
| Real Physsim::Joint::get_joint_limit_rcoeff | ( | ) | const [inline] |
Gets the coefficient of restitution for joint limit violations (0..1).
| Real Physsim::Joint::get_joint_limit_kp | ( | ) | const [inline] |
Gets the spring constant value for joint limit violations (0..infinity).
| Real Physsim::Joint::get_joint_limit_kv | ( | ) | const [inline] |
Gets the damping constant value for joint limit violations (0..infinity).
| const VectorN& Physsim::Joint::get_joint_viscous_mu | ( | ) | const [inline] |
Gets the viscous friction coefficients for this joint (zero by default).
The friction coefficients do not permit covariance between joints.
| const VectorN& Physsim::Joint::get_joint_coulomb_mu | ( | ) | const [inline] |
Gets the Coulomb friction coefficients for this joint (zero by default).
The friction coefficients do not permit covariance between joints.
| void Physsim::Joint::set_joint_limit_kp | ( | Real | kp | ) | [inline] |
Sets the spring constant value for joint limit violations (0..infinity).
| void Physsim::Joint::set_joint_limit_kv | ( | Real | kv | ) | [inline] |
Sets the damping constant value for joint limit violations (0..infinity).
| void Physsim::Joint::set_joint_viscous_mu | ( | const VectorN & | mu | ) | [inline] |
Sets the viscous friction coefficients for this joint (zero by default).
The friction coefficients do not permit covariance between joints. a vector of non-negative friction coefficients
| void Physsim::Joint::set_joint_coulomb_mu | ( | const VectorN & | mu | ) | [inline] |
Sets the Coulomb friction coefficients for this joint (zero by default).
The friction coefficients do not permit covariance between joints. a vector of non-negative friction coefficients
| void Physsim::Joint::set_low_limit | ( | const VectorN & | lolimit | ) | [inline] |
Sets the lower positional limits for this joint.
| void Physsim::Joint::set_high_limit | ( | const VectorN & | hilimit | ) | [inline] |
Sets the upper positional limits for this joint.
| boost::weak_ptr<ArticulatedBody> Physsim::Joint::get_articulated_body | ( | ) | [inline] |
Gets the articulated body corresponding to this body.
| void Physsim::Joint::set_articulated_body | ( | ArticulatedBodyPtr | abody | ) | [inline] |
Sets the articulated body corresponding to this body.
| body | a pointer to the articulated body or NULL if this body is not a link in an articulated body |
| void Joint::init_data | ( | ) | [protected] |
Method for initializing all variables in the joint.
This method should be called at the beginning of all constructors of all derived classes.
1.5.1