Drake
FixedAxisOneDoFJoint< Derived > Class Template Reference

#include <drake/multibody/joints/fixed_axis_one_dof_joint.h>

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Public Member Functions

virtual ~FixedAxisOneDoFJoint ()
 
template<typename DerivedQ , typename DerivedMS >
void motionSubspace (const Eigen::MatrixBase< DerivedQ > &q, Eigen::MatrixBase< DerivedMS > &motion_subspace, typename drake::math::Gradient< DerivedMS, Eigen::Dynamic >::type *dmotion_subspace=nullptr) const
 
template<typename DerivedQ , typename DerivedV >
void motionSubspaceDotTimesV (const Eigen::MatrixBase< DerivedQ > &q, const Eigen::MatrixBase< DerivedV > &v, Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 > &motion_subspace_dot_times_v, typename drake::math::Gradient< Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 >, Eigen::Dynamic >::type *dmotion_subspace_dot_times_vdq=nullptr, typename drake::math::Gradient< Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 >, Eigen::Dynamic >::type *dmotion_subspace_dot_times_vdv=nullptr) const
 
template<typename DerivedQ >
void qdot2v (const Eigen::MatrixBase< DerivedQ > &q, Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_VELOCITIES, DrakeJoint::MAX_NUM_POSITIONS > &qdot_to_v, Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic > *dqdot_to_v) const
 
template<typename DerivedQ >
void v2qdot (const Eigen::MatrixBase< DerivedQ > &q, Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_POSITIONS, DrakeJoint::MAX_NUM_VELOCITIES > &v_to_qdot, Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic > *dv_to_qdot) const
 
template<typename DerivedV >
Eigen::Matrix< typename DerivedV::Scalar, Eigen::Dynamic, 1 > frictionTorque (const Eigen::MatrixBase< DerivedV > &v) const
 
void setJointLimits (double joint_limit_min, double joint_limit_max)
 
void SetJointLimitDynamics (double joint_limit_stiffness, double joint_limit_dissipation)
 
Eigen::VectorXd zeroConfiguration () const override
 
Eigen::VectorXd randomConfiguration (std::default_random_engine &generator) const override
 
void setDynamics (double damping, double coulomb_friction, double coulomb_window)
 
std::string get_position_name (int index) const override
 
std::string getPositionName (int index) const override
 
const drake::TwistVector< double > & joint_axis () const
 
double damping () const
 
double coulomb_friction () const
 
double coulomb_window () const
 

Protected Member Functions

 FixedAxisOneDoFJoint (Derived &derived, const std::string &name, const Eigen::Isometry3d &transform_to_parent_body, const drake::TwistVector< double > &_joint_axis)
 
void DoInitializeClone (DrakeJoint *clone) const override
 Initializes the private member variables within the provided clone. More...
 

Constructor & Destructor Documentation

FixedAxisOneDoFJoint ( Derived &  derived,
const std::string &  name,
const Eigen::Isometry3d &  transform_to_parent_body,
const drake::TwistVector< double > &  _joint_axis 
)
inlineprotected
virtual ~FixedAxisOneDoFJoint ( )
inlinevirtual

Member Function Documentation

double coulomb_friction ( ) const
inline

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double coulomb_window ( ) const
inline

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double damping ( ) const
inline

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void DoInitializeClone ( DrakeJoint clone) const
inlineoverrideprotected

Initializes the private member variables within the provided clone.

Eigen::Matrix<typename DerivedV::Scalar, Eigen::Dynamic, 1> frictionTorque ( const Eigen::MatrixBase< DerivedV > &  v) const
inline
std::string get_position_name ( int  index) const
inlineoverride

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std::string getPositionName ( int  index) const
inlineoverride
const drake::TwistVector<double>& joint_axis ( ) const
inline

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void motionSubspace ( const Eigen::MatrixBase< DerivedQ > &  q,
Eigen::MatrixBase< DerivedMS > &  motion_subspace,
typename drake::math::Gradient< DerivedMS, Eigen::Dynamic >::type *  dmotion_subspace = nullptr 
) const
inline
void motionSubspaceDotTimesV ( const Eigen::MatrixBase< DerivedQ > &  q,
const Eigen::MatrixBase< DerivedV > &  v,
Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 > &  motion_subspace_dot_times_v,
typename drake::math::Gradient< Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 >, Eigen::Dynamic >::type *  dmotion_subspace_dot_times_vdq = nullptr,
typename drake::math::Gradient< Eigen::Matrix< typename DerivedQ::Scalar, 6, 1 >, Eigen::Dynamic >::type *  dmotion_subspace_dot_times_vdv = nullptr 
) const
inline
void qdot2v ( const Eigen::MatrixBase< DerivedQ > &  q,
Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_VELOCITIES, DrakeJoint::MAX_NUM_POSITIONS > &  qdot_to_v,
Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic > *  dqdot_to_v 
) const
inline
Eigen::VectorXd randomConfiguration ( std::default_random_engine &  generator) const
inlineoverride
void setDynamics ( double  damping,
double  coulomb_friction,
double  coulomb_window 
)
inline
void SetJointLimitDynamics ( double  joint_limit_stiffness,
double  joint_limit_dissipation 
)
inline
void setJointLimits ( double  joint_limit_min,
double  joint_limit_max 
)
inline
void v2qdot ( const Eigen::MatrixBase< DerivedQ > &  q,
Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, DrakeJoint::MAX_NUM_POSITIONS, DrakeJoint::MAX_NUM_VELOCITIES > &  v_to_qdot,
Eigen::Matrix< typename DerivedQ::Scalar, Eigen::Dynamic, Eigen::Dynamic > *  dv_to_qdot 
) const
inline
Eigen::VectorXd zeroConfiguration ( ) const
inlineoverride

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