#include <Joint.hh>

Public Member Functions
	Joint ()
	Default constructor.

bool	AddSensor (const Sensor &_sensor)
	Add a sensors to the joint.

const JointAxis *	Axis (const unsigned int _index=0) const
	Get a joint axis.

const std::string &	ChildName () const
	Get the name of this joint's child frame.

void	ClearSensors ()
	Remove all sensors.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.

Errors	Load (ElementPtr _sdf)
	Load the joint based on a element pointer.

const std::string &	Name () const
	Get the name of the joint.

const std::string &	ParentName () const
	Get the name of this joint's parent frame.

const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this object's pose is expressed.

const gz::math::Pose3d &	RawPose () const
	Get the pose of the joint.

Errors	ResolveChildLink (std::string &_link) const
	Resolve the name of the child link from the FrameAttachedToGraph.

Errors	ResolveParentLink (std::string &_link) const
	Resolve the name of the parent link from the FrameAttachedToGraph.

double	ScrewThreadPitch () const
	Get the displacement along the joint axis for each complete revolution around the joint axis (only valid for screw joints).

sdf::SemanticPose	SemanticPose () const
	Get SemanticPose object of this object to aid in resolving poses.

const Sensor *	SensorByIndex (const uint64_t _index) const
	Get a sensor based on an index.

Sensor *	SensorByIndex (uint64_t _index)
	Get a mutable sensor based on an index.

Sensor *	SensorByName (const std::string &_name)
	Get a mutable sensor based on a name.

const Sensor *	SensorByName (const std::string &_name) const
	Get a sensor based on a name.

uint64_t	SensorCount () const
	Get the number of sensors.

bool	SensorNameExists (const std::string &_name) const
	Get whether a sensor name exists.

void	SetAxis (const unsigned int _index, const JointAxis &_axis)
	Set a joint axis.

void	SetChildName (const std::string &_name)
	Set the name of the child frame.

void	SetName (const std::string &_name)
	Set the name of the joint.

void	SetParentName (const std::string &_name)
	Set the name of the parent frame.

void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this object's pose is expressed.

void	SetRawPose (const gz::math::Pose3d &_pose)
	Set the pose of the joint.

void	SetScrewThreadPitch (double _threadPitch)
	Set the thread pitch (only valid for screw joints).

void	SetThreadPitch (double _threadPitch)
	Set the thread pitch in gazebo-classic format (only valid for screw joints).

void	SetType (const JointType _jointType)
	Set the joint type.

double	ThreadPitch () const
	Get the thread pitch in gazebo-classic format (only valid for screw joints).

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this joint.

JointType	Type () const
	Get the joint type.

Constructor & Destructor Documentation

◆ Joint()

sdf::SDF_VERSION_NAMESPACE::Joint::Joint ( )

Default constructor.

Member Function Documentation

◆ AddSensor()

bool sdf::SDF_VERSION_NAMESPACE::Joint::AddSensor ( const Sensor & _sensor )

Add a sensors to the joint.

Parameters

[in] _sensor Sensor to add.

Returns: True if successful, false if a sensor with the name already exists.

◆ Axis()

const JointAxis * sdf::SDF_VERSION_NAMESPACE::Joint::Axis ( const unsigned int _index = 0 ) const

Get a joint axis.

Parameters

[in] _index This value specifies which axis to get. A value of zero corresponds to the first axis, which is the <axis> SDF element. Any other value will return the second axis, which is the <axis2> SDF element.

Returns: A JointAxis for either the first or second joint axis. A return value of nullptr indicates that the axis is not specified.

◆ ChildName()

const std::string & sdf::SDF_VERSION_NAMESPACE::Joint::ChildName ( ) const

Get the name of this joint's child frame.

Returns: The name of the child frame.

◆ ClearSensors()

void sdf::SDF_VERSION_NAMESPACE::Joint::ClearSensors ( )

Remove all sensors.

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Joint::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ Load()

Errors sdf::SDF_VERSION_NAMESPACE::Joint::Load ( ElementPtr _sdf )

Load the joint based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in] _sdf The SDF Element pointer

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Name()

const std::string & sdf::SDF_VERSION_NAMESPACE::Joint::Name ( ) const

Get the name of the joint.

The name of the joint must be unique within the scope of a Model.

Returns: Name of the joint.

◆ ParentName()

const std::string & sdf::SDF_VERSION_NAMESPACE::Joint::ParentName ( ) const

Get the name of this joint's parent frame.

Returns: The name of the parent frame.

◆ PoseRelativeTo()

const std::string & sdf::SDF_VERSION_NAMESPACE::Joint::PoseRelativeTo ( ) const

Get the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the child link frame.

Returns: The name of the pose relative-to frame.

◆ RawPose()

const gz::math::Pose3d & sdf::SDF_VERSION_NAMESPACE::Joint::RawPose ( ) const

Get the pose of the joint.

This is the pose of the joint as specified in SDF (<joint> <pose> ... </pose></joint>). Transformations have not been applied to the return value.

Returns: The pose of the joint. This is the raw pose value, as set in the SDF file.

◆ ResolveChildLink()

Errors sdf::SDF_VERSION_NAMESPACE::Joint::ResolveChildLink ( std::string & _link ) const

Resolve the name of the child link from the FrameAttachedToGraph.

Parameters

[out] _body Name of child link of this joint.

Returns: Errors.

◆ ResolveParentLink()

Errors sdf::SDF_VERSION_NAMESPACE::Joint::ResolveParentLink ( std::string & _link ) const

Resolve the name of the parent link from the FrameAttachedToGraph.

It will return the name of a link or "world".

Parameters

[out] _body Name of parent link of this joint.

Returns: Errors.

◆ ScrewThreadPitch()

double sdf::SDF_VERSION_NAMESPACE::Joint::ScrewThreadPitch ( ) const

Get the displacement along the joint axis for each complete revolution around the joint axis (only valid for screw joints).

Returns: The thread pitch with units of meters per revolution with a positive value corresponding to a right-handed thread.

◆ SemanticPose()

sdf::SemanticPose sdf::SDF_VERSION_NAMESPACE::Joint::SemanticPose ( ) const

Get SemanticPose object of this object to aid in resolving poses.

Returns: SemanticPose object for this link.

◆ SensorByIndex() [1/2]

const Sensor * sdf::SDF_VERSION_NAMESPACE::Joint::SensorByIndex ( const uint64_t _index ) const

Get a sensor based on an index.

Parameters

[in] _index Index of the sensor. The index should be in the range [0..SensorCount()).

Returns: Pointer to the sensor. Nullptr if the index does not exist.

See also: uint64_t SensorCount() const

◆ SensorByIndex() [2/2]

Sensor * sdf::SDF_VERSION_NAMESPACE::Joint::SensorByIndex ( uint64_t _index )

Get a mutable sensor based on an index.

Parameters

[in] _index Index of the sensor. The index should be in the range [0..SensorCount()).

Returns: Pointer to the sensor. Nullptr if the index does not exist.

See also: uint64_t SensorCount() const

◆ SensorByName() [1/2]

Sensor * sdf::SDF_VERSION_NAMESPACE::Joint::SensorByName ( const std::string & _name )

Get a mutable sensor based on a name.

Parameters

[in] _name Name of the sensor.

Returns: Pointer to the sensor. Nullptr if a sensor with the given name does not exist.

See also: bool SensorNameExists(const std::string &_name) const

◆ SensorByName() [2/2]

const Sensor * sdf::SDF_VERSION_NAMESPACE::Joint::SensorByName ( const std::string & _name ) const

Get a sensor based on a name.

Parameters

[in] _name Name of the sensor.

Returns: Pointer to the sensor. Nullptr if a sensor with the given name does not exist.

See also: bool SensorNameExists(const std::string &_name) const

◆ SensorCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Joint::SensorCount ( ) const

Get the number of sensors.

Returns: Number of sensors contained in this Joint object.

◆ SensorNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Joint::SensorNameExists ( const std::string & _name ) const

Get whether a sensor name exists.

Parameters

[in] _name Name of the sensor to check.

Returns: True if there exists a sensor with the given name.

◆ SetAxis()

void sdf::SDF_VERSION_NAMESPACE::Joint::SetAxis	(	const unsigned int	_index,
		const JointAxis &	_axis
	)

Set a joint axis.

Parameters

[in]	_index	This value specifies which axis to set. A value of zero corresponds to the first axis, which is the <axis> SDF element. Any other value will set the second axis, which is the <axis2> SDF element.
[in]	_axis	The JointAxis of the joint

◆ SetChildName()

void sdf::SDF_VERSION_NAMESPACE::Joint::SetChildName ( const std::string & _name )

Set the name of the child frame.

Parameters

[in] _name Name of the child frame.

◆ SetName()

void sdf::SDF_VERSION_NAMESPACE::Joint::SetName ( const std::string & _name )

Set the name of the joint.

The name of the joint must be unique within the scope of a Model.

Parameters

[in] _name Name of the joint.

◆ SetParentName()

void sdf::SDF_VERSION_NAMESPACE::Joint::SetParentName ( const std::string & _name )

Set the name of the parent frame.

Parameters

[in] _name Name of the parent frame.

◆ SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Joint::SetPoseRelativeTo ( const std::string & _frame )

Set the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the child link frame.

Parameters

[in] _frame The name of the pose relative-to frame.

◆ SetRawPose()

void sdf::SDF_VERSION_NAMESPACE::Joint::SetRawPose ( const gz::math::Pose3d & _pose )

Set the pose of the joint.

See also: const gz::math::Pose3d &RawPose() const;

Parameters

[in] _pose The pose of the joint.

◆ SetScrewThreadPitch()

void sdf::SDF_VERSION_NAMESPACE::Joint::SetScrewThreadPitch ( double _threadPitch )

Set the thread pitch (only valid for screw joints).

Parameters

[in] _threadPitch The thread pitch with units of meters per revolution with a positive value corresponding to a right-handed thread.

◆ SetThreadPitch()

void sdf::SDF_VERSION_NAMESPACE::Joint::SetThreadPitch ( double _threadPitch )

Set the thread pitch in gazebo-classic format (only valid for screw joints).

This will be deprecated in a future version.

Parameters

[in] _threadPitch The thread pitch with units of radians / meters and a positive value coresponding to a left-handed thread.

◆ SetType()

void sdf::SDF_VERSION_NAMESPACE::Joint::SetType ( const JointType _jointType )

Set the joint type.

Parameters

[in] _jointType The type of joint.

◆ ThreadPitch()

double sdf::SDF_VERSION_NAMESPACE::Joint::ThreadPitch ( ) const

Get the thread pitch in gazebo-classic format (only valid for screw joints).

This will be deprecated in a future version.

Returns: The thread pitch with units of radians / meters and a positive value coresponding to a left-handed thread.

◆ ToElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Joint::ToElement ( ) const

Create and return an SDF element filled with data from this joint.

Note that parameter passing functionality is not captured with this function.

Returns: SDF element pointer with updated joint values.

◆ Type()

JointType sdf::SDF_VERSION_NAMESPACE::Joint::Type ( ) const

Get the joint type.

Returns: Type of joint.

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

Joint.hh

Public Member Functions

Constructor & Destructor Documentation

◆ Joint()

Member Function Documentation

◆ AddSensor()

◆ Axis()

◆ ChildName()

◆ ClearSensors()

◆ Element()

◆ Load()

◆ Name()

◆ ParentName()

◆ PoseRelativeTo()

◆ RawPose()

◆ ResolveChildLink()

◆ ResolveParentLink()

◆ ScrewThreadPitch()

◆ SemanticPose()

◆ SensorByIndex() [1/2]

◆ SensorByIndex() [2/2]

◆ SensorByName() [1/2]

◆ SensorByName() [2/2]

◆ SensorCount()

◆ SensorNameExists()

◆ SetAxis()

◆ SetChildName()

◆ SetName()

◆ SetParentName()

◆ SetPoseRelativeTo()

◆ SetRawPose()

◆ SetScrewThreadPitch()

◆ SetThreadPitch()

◆ SetType()

◆ ThreadPitch()

◆ ToElement()

◆ Type()