Container class that stores the underlying joint representation. Can represent basic joints within the plane, such as fixed (rigid attachment), float (free-flying in SE(2)), translate (free translation in R^2), prismatic (extension along the X-axis), and revolute (rotation). More...

#include <joint.h>

Public Types
enum	Type { FIXED = 0, FLOAT = 1, FLYING = 2, TRANSLATE = 3, PRISMATIC = 4, REVOLUTE = 5, CONTINUOUS = 6 }
	Type of joint. More...

Public Member Functions
Constructors
	Joint (const std::string &name, Type type, const Eigen::VectorXd &lower, const Eigen::VectorXd &upper)
	Constructor. Takes in name of joint (the frame this joint is associated with, normally) and the joint type to create underlying structures. More...

	Joint (const Joint &)=delete

	Joint (Joint &&)=delete

Joint-based Operations
void	enforceBounds (Eigen::Ref< Eigen::VectorXd > q) const
	Enforces joint limits on a joint configuration. More...

void	setRandom (Eigen::Ref< Eigen::VectorXd > q) const
	sets the Joint at a random state respecting the limits. More...

bool	inBounds (const Eigen::Ref< const Eigen::VectorXd > &q) const
	Checks if joint limits are satisfied for a joint configuration. More...

double	distance (const Eigen::Ref< const Eigen::VectorXd > &a, const Eigen::Ref< const Eigen::VectorXd > &b) const
	Measures distance between two joint configurations. More...

void	interpolate (const Eigen::Ref< const Eigen::VectorXd > &from, const Eigen::Ref< const Eigen::VectorXd > &to, double t, Eigen::Ref< Eigen::VectorXd > state) const
	Interpolate between two joint configurations. More...

std::pair< Eigen::VectorXd, Eigen::VectorXd >	getBounds () const
	Get the bounds for this joint. For continuous joints, [-pi, pi] is returned. More...

Informative
std::string	printDebug () const
	Print debug information about this frame. More...

Static Public Member Functions
static Type	stringToType (const std::string &joint)
	Try to convert a string into a joint type. Not case-sensitive. More...

static const std::string &	typeToString (const Type &type)
	Converts a joint type into its string representation. More...

Public Attributes
const Type	type
	Type of joint. More...

const std::vector< KDL::Joint >	joints
	Underlying KDL joints. More...

const bool	continuous
	Is this a continuous type joint? More...

const bool	fixed
	Is this joint fixed? More...

const unsigned int	n
	Number of joints. More...

const Eigen::VectorXd	lower
	Lower limits of this frame's joint value (closed). More...

const Eigen::VectorXd	upper
	Upper limits of this frame's joint value (closed). More...

Static Public Attributes
static const unsigned int	TYPE_MAX = CONTINUOUS
	Maximum value a joint type can have. More...

static const std::string	TYPE_STRINGS []
	String representation of joint type. More...

Private Attributes
const unsigned int	top_
	Top index for internal computations. More...

Detailed Description

Container class that stores the underlying joint representation. Can represent basic joints within the plane, such as fixed (rigid attachment), float (free-flying in SE(2)), translate (free translation in R^2), prismatic (extension along the X-axis), and revolute (rotation).

Definition at line 31 of file joint.h.

Member Enumeration Documentation

◆ Type

enum se2ez::Joint::Type

Type of joint.

Enumerator
FIXED	Fixed joint, just a rigid transformation.
FLOAT	Floating joint, free movement in SE(2). Uses Euclidean metric.
FLYING	Floating joint, free movement in SE(2). Continuous rotation, uses SE(2) metric.
TRANSLATE	Translating joint, free X- and Y-axis movement.
PRISMATIC	Prismatic joint, extends along X-axis.
REVOLUTE	Revolute joint, rotates. Uses Euclidean metric.
CONTINUOUS	Revolute joint, rotates. Continuous rotation, uses SO(2) metric.

Definition at line 38 of file joint.h.

Constructor & Destructor Documentation

◆ Joint() [1/3]

Joint::Joint	(	const std::string &	name,
		Type	type,
		const Eigen::VectorXd &	lower,
		const Eigen::VectorXd &	upper
	)

Constructor. Takes in name of joint (the frame this joint is associated with, normally) and the joint type to create underlying structures.

Parameters

[in]	name	Name of the joint.
[in]	type	Type of the joint.
[in]	lower	Lower limits of frame joint.
[in]	upper	Upper limits of frame joint.

Definition at line 31 of file joint.cpp.

◆ Joint() [2/3]

se2ez::Joint::Joint ( const Joint & )

delete

◆ Joint() [3/3]

se2ez::Joint::Joint ( Joint && )

delete

Member Function Documentation

◆ distance()

double Joint::distance	(	const Eigen::Ref< const Eigen::VectorXd > &	a,
		const Eigen::Ref< const Eigen::VectorXd > &	b
	)		const

Measures distance between two joint configurations.

Parameters

[in]	a	First configuration.
[in]	b	First configuration.

Returns: Distance between a and b

Definition at line 115 of file joint.cpp.

◆ enforceBounds()

void Joint::enforceBounds ( Eigen::Ref< Eigen::VectorXd > q ) const

Enforces joint limits on a joint configuration.

Parameters

[in] q Configuration for the joint.

Definition at line 82 of file joint.cpp.

◆ getBounds()

std::pair< Eigen::VectorXd, Eigen::VectorXd > Joint::getBounds ( ) const

Get the bounds for this joint. For continuous joints, [-pi, pi] is returned.

Returns: A pair of lower and upper bounds for the joint.

Definition at line 149 of file joint.cpp.

◆ inBounds()

bool Joint::inBounds ( const Eigen::Ref< const Eigen::VectorXd > & q ) const

Checks if joint limits are satisfied for a joint configuration.

Parameters

[in] q Configuration for the joint.

Returns: True if configuration is within bounds.

Definition at line 103 of file joint.cpp.

◆ interpolate()

void Joint::interpolate	(	const Eigen::Ref< const Eigen::VectorXd > &	from,
		const Eigen::Ref< const Eigen::VectorXd > &	to,
		double	t,
		Eigen::Ref< Eigen::VectorXd >	state
	)		const

Interpolate between two joint configurations.

Parameters

[in]	from	Initial configuration.
[in]	to	Destination configuration.
[in]	t	Interpolation parameter.
[out]	state	Output configuration.

Returns: Fills state with interpolated parameters.

Definition at line 125 of file joint.cpp.

◆ printDebug()

std::string Joint::printDebug ( ) const

Print debug information about this frame.

Returns: A string of information about the frame.

Definition at line 168 of file joint.cpp.

◆ setRandom()

void Joint::setRandom ( Eigen::Ref< Eigen::VectorXd > q ) const

sets the Joint at a random state respecting the limits.

Parameters

[in] q Configuration for the joint.

Definition at line 96 of file joint.cpp.

◆ stringToType()

Joint::Type Joint::stringToType ( const std::string & joint )

static

Try to convert a string into a joint type. Not case-sensitive.

Parameters

[in] joint String of joint type. See TYPE_STRINGS.

Returns: The type of joint specified by the string, or an exception on failure.

Definition at line 14 of file joint.cpp.

◆ typeToString()

const std::string & Joint::typeToString ( const Type & type )

static

Converts a joint type into its string representation.

Parameters

[in] type The type to convert.

Returns: The joint type as a string.

Definition at line 23 of file joint.cpp.

Member Data Documentation

◆ continuous

const bool se2ez::Joint::continuous

Is this a continuous type joint?

Definition at line 140 of file joint.h.

◆ fixed

const bool se2ez::Joint::fixed

Is this joint fixed?

Definition at line 141 of file joint.h.

◆ joints

const std::vector<KDL::Joint> se2ez::Joint::joints

Underlying KDL joints.

Definition at line 139 of file joint.h.

◆ lower

const Eigen::VectorXd se2ez::Joint::lower

Lower limits of this frame's joint value (closed).

Definition at line 144 of file joint.h.

◆ n

const unsigned int se2ez::Joint::n

Number of joints.

Definition at line 142 of file joint.h.

◆ top_

const unsigned int se2ez::Joint::top_

private

Top index for internal computations.

Definition at line 148 of file joint.h.

◆ type

const Type se2ez::Joint::type

Type of joint.

Definition at line 138 of file joint.h.

◆ TYPE_MAX

const unsigned int se2ez::Joint::TYPE_MAX = CONTINUOUS

static

Maximum value a joint type can have.

Definition at line 49 of file joint.h.

◆ TYPE_STRINGS

const std::string Joint::TYPE_STRINGS

static

Initial value:

= {"fixed", "float", "flying", "translate",

"prismatic", "revolute", "continuous"}

String representation of joint type.

Definition at line 51 of file joint.h.

◆ upper

const Eigen::VectorXd se2ez::Joint::upper

Upper limits of this frame's joint value (closed).

Definition at line 145 of file joint.h.

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

/home/zak/code/se2ez_work/include/se2ez/core/joint.h
/home/zak/code/se2ez_work/src/core/joint.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ Joint() [1/3]

◆ Joint() [2/3]

◆ Joint() [3/3]

Member Function Documentation

◆ distance()

◆ enforceBounds()

◆ getBounds()

◆ inBounds()

◆ interpolate()

◆ printDebug()

◆ setRandom()

◆ stringToType()

◆ typeToString()

Member Data Documentation

◆ continuous

◆ fixed

◆ joints

◆ lower

◆ n

◆ top_

◆ type

◆ TYPE_MAX

◆ TYPE_STRINGS

◆ upper