openrave.org

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Public Member Functions | Public Attributes | List of all members
OpenRAVE::KinBody::JointInfo Class Reference

Describes the properties of a joint used to initialize it. More...

#include <kinbody.h>

Inheritance diagram for OpenRAVE::KinBody::JointInfo:
Inheritance graph
[legend]
Collaboration diagram for OpenRAVE::KinBody::JointInfo:
Collaboration graph
[legend]

Public Member Functions

 JointInfo ()
 
virtual ~JointInfo ()
 
- Public Member Functions 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 Member Functions inherited from OpenRAVE::UserData
virtual ~UserData ()
 

Public Attributes

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)
 

Detailed Description

Describes the properties of a joint used to initialize it.

Definition at line 661 of file kinbody.h.

Constructor & Destructor Documentation

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

Definition at line 26 of file kinbodyjoint.cpp.

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

Definition at line 665 of file kinbody.h.

Member Data Documentation

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

Definition at line 670 of file kinbody.h.

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.

TrajectoryBasePtr OpenRAVE::KinBody::JointInfo::_trajfollow

used if joint type is JointTrajectory

Definition at line 689 of file kinbody.h.

JointType OpenRAVE::KinBody::JointInfo::_type

Definition at line 668 of file kinbody.h.

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

Definition at line 671 of file kinbody.h.

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

Definition at line 672 of file kinbody.h.

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

joint values at initialization. passed into Joint::_ComputeInternalInformation

Definition at line 673 of file kinbody.h.

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

Definition at line 688 of file kinbody.h.

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
iaxisthe 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

joint limits

Definition at line 688 of file kinbody.h.

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: