warptwin::Joint Class Reference

Joint class defining relationship between frames. More...

#include <Joint.h>

Public Member Functions
	Joint ()
	Default constructor for the joint object.
	Joint (joint_type_e joint_type)
	Constructor to set joint type.
	Joint (bool x_free, bool y_free, bool z_free)
	Constructor to set free axes on the joint for the object.
void	setFreeAxes (bool x_free, bool y_free, bool z_free)
	Function to set the axes free on this joint.
void	setJointType (joint_type_e joint_type)
	Function to set the joint type.
const clockwerk::Matrix< 3, 3 > &	freedom () const
	Functions to return freedom or dependency matrix.
const clockwerk::Matrix< 3, 3 > &	dependency () const
warptwin::joint_type_e	jointType () const
	Getter/setter for joint type.
void	jointType (joint_type_e joint_type)

Protected Attributes
joint_type_e	_joint_type
clockwerk::Matrix< 3, 3 >	_freedom
	Freedom and dependency matrix.
clockwerk::Matrix< 3, 3 >	_dependency

Detailed Description

Joint class defining relationship between frames.

The joint class defines the relationship between a frame and its parent for a given motion type (translational or rotational). It defines two matrices: the freedom matrix, which defines whether each axis is a degree of freedom, and the dependency matrix, which is the opposite of the freedom matrix defined as D = I - F.

For now, the joint class is assumed to be fully free or fully locked for simplicity. Updating to reflect configurable degrees of freedom is a TODO

Constructor & Destructor Documentation

Joint() [1/3]

warptwin::Joint::Joint

(

)

Default constructor for the joint object.

Note

Assumes fully locked by default

Joint() [2/3]

warptwin::Joint::Joint

(

joint_type_e

joint_type

)

Constructor to set joint type.

Parameters

joint_type

The type of joint to use

Joint() [3/3]

warptwin::Joint::Joint	(	bool	x_free,
		bool	y_free,
		bool	z_free )

Constructor to set free axes on the joint for the object.

Parameters

x_free	Bool indicating whether x should be a degree of freedom (true)
y_free	Bool indicating whether y should be a degree of freedom (true)
z_free	Bool indicating whether z should be a degree of freedom (true)

Member Function Documentation

dependency()

const clockwerk::Matrix< 3, 3 > & warptwin::Joint::dependency ( ) const

inline

freedom()

const clockwerk::Matrix< 3, 3 > & warptwin::Joint::freedom ( ) const

inline

Functions to return freedom or dependency matrix.

jointType() [1/2]

warptwin::joint_type_e warptwin::Joint::jointType ( ) const

inline

Getter/setter for joint type.

jointType() [2/2]

void warptwin::Joint::jointType ( joint_type_e joint_type )

inline

setFreeAxes()

void warptwin::Joint::setFreeAxes	(	bool	x_free,
		bool	y_free,
		bool	z_free )

Function to set the axes free on this joint.

Parameters

x_free	Bool indicating whether x should be a degree of freedom (true)
y_free	Bool indicating whether y should be a degree of freedom (true)
z_free	Bool indicating whether z should be a degree of freedom (true)

setJointType()

void warptwin::Joint::setJointType

(

joint_type_e

joint_type

)

Function to set the joint type.

Parameters

joint_type

The type of joint to use

Member Data Documentation

_dependency

clockwerk::Matrix<3, 3> warptwin::Joint::_dependency

protected

_freedom

clockwerk::Matrix<3, 3> warptwin::Joint::_freedom

protected

Freedom and dependency matrix.

_joint_type

joint_type_e warptwin::Joint::_joint_type

protected

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

• /Users/mickey/Documents/Projects/warptwin/cpp/src/frames/Joint.h
• /Users/mickey/Documents/Projects/warptwin/cpp/src/frames/Joint.cpp