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claraty::ME_Joint

claraty::ME_Joint Class Reference

#include <me_joint.h>

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List of all members.

Public Member Functions

ME_Joint model setting
void set_name (std::string name)
std::string get_name ()
void set_body (ME_Body *me_body)
ME_Body * get_body ()
void set_type (std::string type)
void set_type (short type)
std::string get_type ()
void set_actuated (bool actuated)
bool is_actuated ()
bool has_limits ()
void set_offset (double offset)
double & get_offset ()
void set_home (double home)
double & get_home ()
void set_value (double value, int dof_index=0)
double get_value (int dof_index=0)
void set_limits (double joint_min, double joint_max, double joint_vmax, double joint_tmin, double joint_tmax)
void get_limits (double &joint_min, double &joint_max, double &joint_vmax, double &joint_tmin, double &joint_tmax)
void set_stiffness (double kx, double ky, double kz)
void get_stiffness (double &kx, double &ky, double &kz)
void set_constraint_expression (std::string expr)
std::vector< double > & get_values_vector ()
std::string get_constraint_expression ()
bool is_constrained ()
int get_number_dofs ()
void rotate_joint_axes (const Quaternion< double > &rotation)
void rotate_joint_axes (const RMatrix< double > &rotation)
void set_joint_axes (Vector< double > joint_axis)
void get_joint_axes (Vector< double > &joint_axis)
Vector< double > & get_joint_axis ()
ME_Joint joint algorithms
Transform get_transform ()

Private Types

enum  JOINT_TYPE {
  UNDEFINED = -1, PIN = 1, SLIDER = 2, FULL6DOF = 3,
  STATIC = 10
}

Private Member Functions

ME_Joint model querying
int _resolve_type (std::string joint_type_str)
std::string _unresolve_type (int joint_type)

Private Attributes

unsigned int _index
bool _limited
bool _actuated
short _type
double _offset
double _home
unsigned int _number_of_dofs
Frame * _parent_frame
std::vector< double > _values
bool _constrained
std::string _name
Joint_Limits _limits
Joint_Stiffness * _stiffness
Joint_Constraint * _constraint
ME_Body * _me_body
Vector< double > _joint_axis

Friends

std::ostream & operator<< (std::ostream &os, ME_Joint &me_joint)

Detailed Description

Definition at line 164 of file me_joint.h.

Member Enumeration Documentation

enum claraty::ME_Joint::JOINT_TYPE [private]

Enumeration to indicate joint type.

Enumerator:
UNDEFINED 
PIN 
SLIDER 
FULL6DOF 
STATIC 

Definition at line 169 of file me_joint.h.

00169                   {      // All other types can be modeled using types below 
00170     UNDEFINED = -1,
00171     PIN = 1,        // Models a 1-dof revolute joint
00172     SLIDER = 2,     // Models a 1-dof prismatic joint
00173     FULL6DOF = 3,       // Models a vehicle body relative to a
00174     // base reference frame
00175     STATIC = 10     // Models a rigid joint
00176   };

Constructor & Destructor Documentation

claraty::ME_Joint::ME_Joint (  ) 

Default Constructor for a ME_Joint object.

Definition at line 182 of file me_joint.cc.

References _joint_axis, _number_of_dofs, _values, and claraty::Vector< T >::resize().

00183   : _limited(false),
00184     _number_of_dofs(1),
00185     _parent_frame(0),
00186     _constrained(false),
00187     _stiffness(0),
00188     _constraint(0)
00189 {
00190   _values.resize(_number_of_dofs);
00191   _joint_axis.resize(3);
00192   _joint_axis(0) = 0.0;
00193   _joint_axis(1) = 0.0;
00194   _joint_axis(2) = 1.0;
00195 }

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claraty::ME_Joint::ME_Joint ( ME_Joint &  me_joint  ) 

Copy Constructor for a ME_Joint object.

Parameters:
[in] me_joint The joint to be copied.

Definition at line 205 of file me_joint.cc.

References _constraint, _joint_axis, _limits, _number_of_dofs, _parent_frame, _stiffness, _type, _values, claraty::Vector< T >::resize(), and set_type().

00206 : _index(me_joint._index),
00207   _limited(me_joint._limited),
00208   _offset(me_joint._offset),
00209   _home(me_joint._home),
00210   _number_of_dofs(me_joint._number_of_dofs),
00211   _parent_frame(me_joint._parent_frame),        
00212   _constrained(me_joint._constrained),
00213   _name(me_joint._name),
00214   _limits(me_joint._limits)
00215 
00216 {
00217   if (me_joint._parent_frame)
00218     _parent_frame = new Frame(*me_joint._parent_frame);
00219 
00220   _limits = me_joint._limits;
00221   if (me_joint._stiffness)
00222     {
00223       _stiffness = new Joint_Stiffness(*me_joint._stiffness);
00224     }
00225   if (me_joint._constraint)
00226     {
00227       _constraint = new Joint_Constraint(*me_joint._constraint);
00228     }
00229 
00230   set_type(me_joint._type);
00231   _joint_axis.resize(3);
00232   _joint_axis = me_joint._joint_axis;
00233   _values.resize(_number_of_dofs);
00234 }

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virtual claraty::ME_Joint::~ME_Joint (  )  [inline, virtual]

Definition at line 182 of file me_joint.h.

00182 {}

claraty::ME_Joint::ME_Joint (  ) 

Default Constructor for a ME_Joint object.

Definition at line 182 of file me_joint.cc.

References _joint_axis, _number_of_dofs, _values, and claraty::Vector< T >::resize().

00183   : _limited(false),
00184     _number_of_dofs(1),
00185     _parent_frame(0),
00186     _constrained(false),
00187     _stiffness(0),
00188     _constraint(0)
00189 {
00190   _values.resize(_number_of_dofs);
00191   _joint_axis.resize(3);
00192   _joint_axis(0) = 0.0;
00193   _joint_axis(1) = 0.0;
00194   _joint_axis(2) = 1.0;
00195 }

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claraty::ME_Joint::ME_Joint ( ME_Joint &  me_joint  ) 

Copy Constructor for a ME_Joint object.

Parameters:
[in] me_joint The joint to be copied.

Definition at line 205 of file me_joint.cc.

References _constraint, _joint_axis, _limits, _number_of_dofs, _parent_frame, _stiffness, _type, _values, claraty::Vector< T >::resize(), and set_type().

00206 : _index(me_joint._index),
00207   _limited(me_joint._limited),
00208   _offset(me_joint._offset),
00209   _home(me_joint._home),
00210   _number_of_dofs(me_joint._number_of_dofs),
00211   _parent_frame(me_joint._parent_frame),        
00212   _constrained(me_joint._constrained),
00213   _name(me_joint._name),
00214   _limits(me_joint._limits)
00215 
00216 {
00217   if (me_joint._parent_frame)
00218     _parent_frame = new Frame(*me_joint._parent_frame);
00219 
00220   _limits = me_joint._limits;
00221   if (me_joint._stiffness)
00222     {
00223       _stiffness = new Joint_Stiffness(*me_joint._stiffness);
00224     }
00225   if (me_joint._constraint)
00226     {
00227       _constraint = new Joint_Constraint(*me_joint._constraint);
00228     }
00229 
00230   set_type(me_joint._type);
00231   _joint_axis.resize(3);
00232   _joint_axis = me_joint._joint_axis;
00233   _values.resize(_number_of_dofs);
00234 }

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virtual claraty::ME_Joint::~ME_Joint (  )  [inline, virtual]

Definition at line 182 of file me_joint.h.

00182 {}

Member Function Documentation

int claraty::ME_Joint::_resolve_type ( std::string  joint_type  )  [private]

Take the string for a joint type and returns the integer which represents this joint type.

Parameters:
[in] joint_type 
Returns:
The integer representing the joint type.

Definition at line 620 of file me_joint.cc.

References FULL6DOF, PIN, SLIDER, STATIC, and UNDEFINED.

Referenced by set_type().

00621 {
00622   if (strcmp(joint_type.c_str(), "revolute") == 0)
00623     return PIN;
00624   
00625   if (strcmp(joint_type.c_str(), "prismatic") == 0)
00626     return SLIDER;
00627   
00628   if (strcmp(joint_type.c_str(), "full6dof") == 0)
00629     return FULL6DOF;
00630   
00631   if (strcmp(joint_type.c_str(), "fixed_mount") == 0)
00632     return STATIC;
00633   
00634   return UNDEFINED;
00635 }

std::string claraty::ME_Joint::_unresolve_type ( int  joint_type  )  [private]

Get joint type as a string, revolute, prismatic, full6dof, or fixed_mount.

Parameters:
[in] joint_type 
Returns:
String representing the joint type.

Definition at line 594 of file me_joint.cc.

References FULL6DOF, PIN, SLIDER, and STATIC.

Referenced by get_type().

00595 {
00596   if (joint_type == PIN)
00597     return std::string("revolute");
00598   
00599   if (joint_type == SLIDER)
00600     return std::string("prismatic");
00601   
00602   if (joint_type == FULL6DOF)
00603     return std::string("full6dof");
00604   
00605   if (joint_type == STATIC)
00606     return std::string("fixed_mount");
00607   
00608   return std::string("");
00609 }

void claraty::ME_Joint::set_name ( std::string  name  ) 

Set name.

Parameters:
[in] name 

Definition at line 270 of file me_joint.cc.

References _name.

Referenced by claraty::ME_Joint_IO::extract_from_parse_tree().

00271  {
00272   _name = name;
00273 }

std::string claraty::ME_Joint::get_name (  ) 

Return the joint name

Returns:
joint name string

Definition at line 258 of file me_joint.cc.

References _name.

Referenced by claraty::operator<<().

00259 {
00260   return _name;
00261 }

void claraty::ME_Joint::set_body ( ME_Body *  me_body  )  [inline]

Definition at line 195 of file me_joint.h.

References _me_body.

Referenced by claraty::ME_Joint_IO::extract_from_parse_tree(), claraty::ME_Body::ME_Body(), and claraty::ME_Body::set_joint().

00195 {_me_body = me_body;};

ME_Body* claraty::ME_Joint::get_body (  )  [inline]

Definition at line 196 of file me_joint.h.

References _me_body.

00196 { return _me_body;};

void claraty::ME_Joint::set_type ( std::string  type  ) 

Set joint type.

Parameters:
[in] type 

Definition at line 415 of file me_joint.cc.

References _number_of_dofs, _resolve_type(), _type, _values, FULL6DOF, PIN, SLIDER, and STATIC.

Referenced by claraty::ME_Joint_IO::extract_from_parse_tree(), and ME_Joint().

00416 {
00417   _type = _resolve_type(type);
00418   switch(_type)
00419     {
00420     case PIN:
00421       _number_of_dofs = 1;
00422       break;
00423     case SLIDER:
00424       _number_of_dofs = 1;
00425       break;
00426     case FULL6DOF:
00427       _number_of_dofs = 6;
00428       break;
00429     case STATIC:
00430       _number_of_dofs = 0;
00431       break;
00432     default:
00433       break;
00434     }
00435   _values.resize(_number_of_dofs);
00436 }

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void claraty::ME_Joint::set_type ( short  type  ) 

Set joint type.

Parameters:
[in] type 

Definition at line 385 of file me_joint.cc.

References _number_of_dofs, _type, _values, FULL6DOF, PIN, SLIDER, and STATIC.

00386 {
00387   _type = type;
00388   switch(_type)
00389     {
00390     case PIN:
00391       _number_of_dofs = 1;
00392       break;
00393     case SLIDER:
00394       _number_of_dofs = 1;
00395       break;
00396     case FULL6DOF:
00397       _number_of_dofs = 6;
00398       break;
00399     case STATIC:
00400       _number_of_dofs = 0;
00401       break;
00402     default:
00403       break;
00404     }
00405   _values.resize(_number_of_dofs);
00406 }

std::string claraty::ME_Joint::get_type (  ) 

Get type.

Returns:
Type.

Definition at line 283 of file me_joint.cc.

References _type, and _unresolve_type().

Referenced by claraty::operator<<().

00284 {
00285   return _unresolve_type(_type);
00286 }

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void claraty::ME_Joint::set_actuated ( bool  actuated  ) 

Set joint actuated value.

Parameters:
[in] actuated 

Definition at line 459 of file me_joint.cc.

References _actuated.

Referenced by claraty::ME_Joint_IO::extract_from_parse_tree().

00460 {
00461   _actuated = actuated;
00462 }

bool claraty::ME_Joint::is_actuated (  ) 

Interogate if joing is actuated.

Returns:
Ture if actuated, false otherwise.

Definition at line 446 of file me_joint.cc.

References _actuated.

Referenced by claraty::operator<<().

00447 {
00448   return _actuated;
00449 }

bool claraty::ME_Joint::has_limits (  )  [inline]

Definition at line 202 of file me_joint.h.

References _limited.

00202 {return _limited;}

void claraty::ME_Joint::set_offset ( double  offset  ) 

Set joint offset

Parameters:
[in] offset 

Definition at line 553 of file me_joint.cc.

References _offset.

Referenced by claraty::ME_Joint_IO::extract_from_parse_tree().

00554 {
00555   _offset = offset;
00556 }

double & claraty::ME_Joint::get_offset (  ) 

Get joint offset

Returns:
Joint offset.

Definition at line 472 of file me_joint.cc.

References _offset.

Referenced by claraty::operator<<().

00473 {
00474   return _offset;
00475 }

void claraty::ME_Joint::set_home ( double  home  ) 

Set joint home.

Parameters:
[in] home 

Definition at line 579 of file me_joint.cc.

References _home.

Referenced by claraty::ME_Joint_IO::extract_from_parse_tree().

00580 {
00581   _home = home;
00582 }

double & claraty::ME_Joint::get_home (  ) 

Get joint home.

Returns:
Home.

Definition at line 566 of file me_joint.cc.

References _home.

Referenced by claraty::operator<<().

00567 {
00568   return _home;
00569 }

void claraty::ME_Joint::set_value ( double  value,
int  dof_index = 0 
)

Set joint value.

Parameters:
[in] value 
[in] dof_index 

Definition at line 511 of file me_joint.cc.

References _number_of_dofs, and _values.

Referenced by claraty::Mechanism_Model::set_joint_value().

00512 {
00513   if (_number_of_dofs != 0)
00514   _values[dof_index] = value;
00515 }

double claraty::ME_Joint::get_value ( int  dof_index = 0  ) 

Compute the joint value based on the constraint parameters.

Parameters:
[in] dof_index 
Returns:
Joint value.

Definition at line 487 of file me_joint.cc.

References _constrained, _constraint, _me_body, _number_of_dofs, _values, claraty::Joint_Constraint::get_dependent_body_name(), claraty::Joint_Constraint::get_dependent_joint_index(), claraty::Joint_Constraint::get_offset(), claraty::Joint_Constraint::get_slope(), and claraty::ME_Body::get_tree_body().

Referenced by claraty::Mechanism_Model::get_joint_value(), and get_values_vector().

00488 {
00489   if (_number_of_dofs == 0)
00490     return 0.0;
00491   if (!_constrained)
00492     return _values[dof_index];
00493   else  // compute the joint joint value based on the constraint parameters
00494     {
00495       return _constraint->get_slope() *
00496         _me_body->get_tree_body(
00497              _constraint->get_dependent_body_name()).get_joint().get_value(
00498                                       _constraint->get_dependent_joint_index())
00499         + _constraint->get_offset();
00500     }
00501 }

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void claraty::ME_Joint::set_limits ( double  joint_min,
double  joint_max,
double  joint_vmax,
double  joint_tmin,
double  joint_tmax 
)

Set joint limits.

Parameters:
[in] joint_min 
[in] joint_max 
[in] joint_vmax 
[in] joint_tmin 
[in] joint_tmax 

Definition at line 669 of file me_joint.cc.

References _limited, _limits, and claraty::Joint_Limits::set_parameters().

Referenced by claraty::ME_Joint_IO::_joint_limits_attributes().

00672 {  
00673   _limits.set_parameters(joint_min, joint_max, joint_vmax,
00674                                 joint_tmin, joint_tmax);
00675   _limited = true;
00676 }

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void claraty::ME_Joint::get_limits ( double &  joint_min,
double &  joint_max,
double &  joint_vmax,
double &  joint_tmin,
double &  joint_tmax 
)

Get joint limits.

Parameters:
[out] joint_min 
[out] joint_max 
[out] joint_vmax 
[out] joint_tmin 
[out] joint_tmax 

Definition at line 649 of file me_joint.cc.

References _limits, and claraty::Joint_Limits::get_parameters().

Referenced by claraty::operator<<().

00652 {
00653   _limits.get_parameters(joint_min, joint_max, joint_vmax,
00654                                 joint_tmin, joint_tmax);
00655 }

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void claraty::ME_Joint::set_stiffness ( double  kx,
double  ky,
double  kz 
)

Set joint stiffness.

Parameters:
[in] kx 
[in] ky 
[in] kz 

Definition at line 706 of file me_joint.cc.

References _stiffness, and claraty::Joint_Stiffness::set_parameters().

Referenced by claraty::ME_Joint_IO::_joint_stiffness_attributes().

00707 {
00708   if (!_stiffness)
00709     _stiffness = new Joint_Stiffness();
00710   _stiffness->set_parameters(kx, ky, kz);
00711 }

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void claraty::ME_Joint::get_stiffness ( double &  kx,
double &  ky,
double &  kz 
)

Get joint stiffness.

Parameters:
[out] kx 
[out] ky 
[out] kz 

Definition at line 688 of file me_joint.cc.

References _stiffness, and claraty::Joint_Stiffness::get_parameters().

Referenced by claraty::operator<<().

00689 {
00690   if(_stiffness)
00691     _stiffness->get_parameters(kx, ky, kz);
00692   else
00693     kx = 0.0; ky = 0.0; kz = 0.0;
00694 }

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void claraty::ME_Joint::set_constraint_expression ( std::string  expr  ) 

Set joint contstraint expression.

Parameters:
[in] expr The joint constraint expression.

Definition at line 736 of file me_joint.cc.

References _constrained, _constraint, claraty::Joint_Constraint::evaluate_constraint_expression(), and claraty::Joint_Constraint::set_parameters().

Referenced by claraty::ME_Joint_IO::_joint_constraint_attributes().

00737 {
00738   if (!_constraint)
00739     _constraint = new Joint_Constraint;
00740   _constraint->set_parameters(expr);
00741   if ((expr.length() > 0) &&(_constraint->evaluate_constraint_expression()))
00742     _constrained = true;
00743   else
00744     {
00745       delete _constraint;
00746       _constraint = NULL;
00747       _constrained = false;
00748     }
00749 
00750 }

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vector< double > & claraty::ME_Joint::get_values_vector (  ) 

Get vector values.

Returns:
Vector.

Definition at line 297 of file me_joint.cc.

References _constrained, _values, and get_value().

Referenced by claraty::Mechanism_Model::rebuild_lists().

00298 {
00299   if (_constrained)
00300     {
00301       _values[0] = get_value(0);
00302     }
00303   return _values;
00304 }

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std::string claraty::ME_Joint::get_constraint_expression (  ) 

Get joint constraint expression.

Returns:
String of the expression for the constraints.

Definition at line 721 of file me_joint.cc.

References _constraint, and claraty::Joint_Constraint::get_parameters().

Referenced by claraty::operator<<().

00722 {
00723   if (_constraint)
00724     return _constraint->get_parameters();
00725   else
00726     return ("");
00727 }

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bool claraty::ME_Joint::is_constrained (  )  [inline]

Definition at line 220 of file me_joint.h.

References _constrained.

00220 {return _constrained;};

int claraty::ME_Joint::get_number_dofs (  ) 

Get the number of dofs

Returns:
number of dofs

Definition at line 245 of file me_joint.cc.

References _number_of_dofs.

00246 {
00247   return _number_of_dofs;
00248 }

void claraty::ME_Joint::rotate_joint_axes ( const Quaternion< double > &  rotation  ) 

Rotate the joint axis by the specified rotation.

Parameters:
[in] rotation Quaternion specifying rotation

Definition at line 357 of file me_joint.cc.

References _joint_axis, claraty::Quaternion< T >::conjugate(), and set_joint_axes().

Referenced by claraty::ME_Body_IO::extract_from_parse_tree(), and rotate_joint_axes().

00358 {
00359   Quaternion<double> rotation_conjugate(rotation);
00360   rotation_conjugate.conjugate();
00361 
00362   set_joint_axes(rotation_conjugate * Point<double>(_joint_axis));
00363 }

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void claraty::ME_Joint::rotate_joint_axes ( const RMatrix< double > &  rotation  ) 

Rotate the joint axis by the specified rotation.

Parameters:
[in] rotation Quaternion specifying rotation

Definition at line 372 of file me_joint.cc.

References rotate_joint_axes().

00373 {
00374   Quaternion<double> q_rotation(rotation);
00375   rotate_joint_axes(q_rotation);
00376 }

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void claraty::ME_Joint::set_joint_axes ( Vector< double >  joint_axis  ) 

Set joint axes.

Parameters:
[in] joint_axis Vector of joint axis.

Definition at line 315 of file me_joint.cc.

References _joint_axis.

Referenced by claraty::ME_Joint_IO::extract_from_parse_tree(), and rotate_joint_axes().

00316 {
00317   _joint_axis(0) = joint_axis(0);
00318   _joint_axis(1) = joint_axis(1);
00319   _joint_axis(2) = joint_axis(2);
00320 }

void claraty::ME_Joint::get_joint_axes ( Vector< double > &  joint_axis  ) 

Set joint axes.

Parameters:
[in] joint_axis Vector of joint axis.

Definition at line 330 of file me_joint.cc.

References _joint_axis.

Referenced by claraty::ME_Joint_IO::extract_from_parse_tree().

00331 {
00332   joint_axis(0) = _joint_axis(0);
00333   joint_axis(1) = _joint_axis(1);
00334   joint_axis(2) = _joint_axis(2);
00335 }

Vector< double > & claraty::ME_Joint::get_joint_axis (  ) 

Get joint axis.

Returns:
Vector.

Definition at line 345 of file me_joint.cc.

References _joint_axis.

Referenced by claraty::Frame_IO::convert_to_internal_format(), and claraty::Wheel_Locomotor_Model::map_mechanism_model_to_wheel_locomotor_model().

00346 {
00347   return _joint_axis;
00348 }

Transform claraty::ME_Joint::get_transform (  ) 

Get joint transform.

Returns:
Transform.

Definition at line 524 of file me_joint.cc.

References _type, _values, FULL6DOF, claraty::Trans< T, Rotation_Type >::identity, PIN, claraty::Trans< T, Rotation_Type >::rotate_z(), claraty::RPY, SLIDER, STATIC, and claraty::Trans< T, Rotation_Type >::translate_z().

Referenced by claraty::ME_Body::get_relative_transform().

00525 {
00526   Transform result;
00527   switch(_type)
00528     {
00529     case PIN:
00530       result = result.rotate_z(_values[0]);
00531       break;
00532     case SLIDER:
00533       result = result.translate_z(_values[0]);
00534       break;
00535     case FULL6DOF:
00536       result = Transform(Point<double>(_values[0], _values[1],_values[2]),
00537                       RMatrix<double>(RPY,_values[3], _values[4], _values[5]));
00538       break;
00539     case STATIC:
00540       result = Transform::identity;
00541     }
00542   return result;
00543 }

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Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  os,
ME_Joint &  me_joint 
) [friend]

Output to ostream

Parameters:
[out] os ostream to put output on.
[in] me_joint ME_Joint object to be output.
Returns:
ostream with output on it.

Definition at line 761 of file me_joint.cc.

00762 {
00763   std::string spacing = "";
00764   std::string child_spacing = "";
00765   spacing.append(XML_Out::get_indentation_space(), ' ');
00766   child_spacing.append(XML_Out::get_indentation_space()
00767                        + XML_Out::get_tab_space(), ' ');  
00768   os << spacing;
00769   os << "<ME_Joint ";
00770   os << "name = \""     << me_joint.get_name() << "\" ";
00771   
00772   os << "type = \""     << me_joint.get_type() << "\" ";
00773   
00774   os << "actuated = \"" << (me_joint.is_actuated() ? "true" : "false")
00775      << "\" " ;
00776   
00777   os << "offset = \""   << me_joint.get_offset() << "\" ";
00778 
00779   os << "home = \""     << me_joint.get_home() << "\" ";
00780   
00781   //  Vector<double> joint_axis(3);
00782   //  me_joint.get_joint_axes(joint_axis);
00783   //  os << "x_axis = \""     << joint_axis(0) << "\" ";
00784   //  os << "y_axis = \""     << joint_axis(1) << "\" ";
00785   //  os << "z_axis = \""     << joint_axis(2) << "\" ";
00786 
00787   os << ">" << endl;
00788   
00789 
00790   double jmin, jmax, vmax, tmin, tmax;
00791   me_joint.get_limits(jmin, jmax, vmax, tmin, tmax);
00792   os << child_spacing;
00793   os << "<Joint_Limits ";
00794   os << "min = \""         <<  jmin << "\" ";
00795   os << "max = \""         <<  jmax << "\" ";
00796   os << "vmax = \""        <<  vmax << "\" ";
00797   os << "torque_min = \""  <<  tmin << "\" ";
00798   os << "torque_max = \""  <<  tmax << "\" ";
00799   os << "/>" << endl;
00800   
00801   double kx, ky, kz;
00802   me_joint.get_stiffness(kx, ky, kz);
00803   os << child_spacing;
00804   os << "<Joint_Stiffness ";
00805   os << "kx = \""  << kx << "\" ";
00806   os << "ky = \""  << ky << "\" ";
00807   os << "kz = \""  << kz << "\" ";
00808   os << "/>" << endl;
00809   
00810   os << child_spacing;
00811   os << "<Joint_Constraint ";
00812   os << "expr = \"" << me_joint.get_constraint_expression() << "\" ";
00813   os << "/>" << endl;
00814   
00815   os << spacing;
00816   os << "</ME_Joint> \n";
00817 
00818   return os;
00819 }

Member Data Documentation

unsigned int claraty::ME_Joint::_index [private]

Index in Mechanism_Model.

Definition at line 236 of file me_joint.h.

bool claraty::ME_Joint::_limited [private]

To indicate if joint has limits in range of motion

Definition at line 237 of file me_joint.h.

Referenced by has_limits(), and set_limits().

bool claraty::ME_Joint::_actuated [private]

True if actuated, false if passive

Definition at line 239 of file me_joint.h.

Referenced by is_actuated(), and set_actuated().

short claraty::ME_Joint::_type [private]

Joint type. Only PIN or SLIDER are allowed for DH and Homogenous transform input format types

Definition at line 241 of file me_joint.h.

Referenced by get_transform(), get_type(), ME_Joint(), and set_type().

double claraty::ME_Joint::_offset [private]

Joint offset

Definition at line 244 of file me_joint.h.

Referenced by get_offset(), and set_offset().

double claraty::ME_Joint::_home [private]

Joint home position

Definition at line 245 of file me_joint.h.

Referenced by get_home(), and set_home().

unsigned int claraty::ME_Joint::_number_of_dofs [private]

Number of joint degrees of freedom.

Definition at line 246 of file me_joint.h.

Referenced by get_number_dofs(), get_value(), ME_Joint(), set_type(), and set_value().

Frame* claraty::ME_Joint::_parent_frame [private]

Frame on the parent body associated with this joint.

Definition at line 247 of file me_joint.h.

Referenced by ME_Joint().

std::vector<double> claraty::ME_Joint::_values [private]

Definition at line 249 of file me_joint.h.

Referenced by get_transform(), get_value(), get_values_vector(), ME_Joint(), set_type(), and set_value().

bool claraty::ME_Joint::_constrained [private]

Definition at line 250 of file me_joint.h.

Referenced by get_value(), get_values_vector(), is_constrained(), and set_constraint_expression().

std::string claraty::ME_Joint::_name [private]

Joint name

Definition at line 252 of file me_joint.h.

Referenced by get_name(), and set_name().

Joint_Limits claraty::ME_Joint::_limits [private]

Joint limits parameters

Definition at line 253 of file me_joint.h.

Referenced by get_limits(), ME_Joint(), and set_limits().

Joint_Stiffness* claraty::ME_Joint::_stiffness [private]

Joint stiffness parameters

Definition at line 254 of file me_joint.h.

Referenced by get_stiffness(), ME_Joint(), and set_stiffness().

Joint_Constraint* claraty::ME_Joint::_constraint [private]

Joint constraint description

Definition at line 255 of file me_joint.h.

Referenced by get_constraint_expression(), get_value(), ME_Joint(), and set_constraint_expression().

ME_Body* claraty::ME_Joint::_me_body [private]

Body that this joint is on

Definition at line 256 of file me_joint.h.

Referenced by get_body(), get_value(), and set_body().

Vector<double> claraty::ME_Joint::_joint_axis [private]

Joint axes components

Definition at line 257 of file me_joint.h.

Referenced by get_joint_axes(), get_joint_axis(), ME_Joint(), rotate_joint_axes(), and set_joint_axes().

The documentation for this class was generated from the following files: