Parameters related to the axis of rotation for rotational joints, and the axis of translation for prismatic joints. More...

#include <JointAxis.hh>

Public Member Functions
	JointAxis ()
	Default constructor.

double	Damping () const
	Get the physical velocity dependent viscous damping coefficient of the joint axis.

double	Dissipation () const
	Get the joint stop dissipation.

double	Effort () const
	Get the value for enforcing the maximum absolute joint effort that can be applied.

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

double	Friction () const
	Get the physical static friction value of the joint.

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

double	Lower () const
	Get the lower joint axis limit (radians for revolute joints, meters for prismatic joints).

double	MaxVelocity () const
	Get the value for enforcing the maximum absolute joint velocity.

std::optional< MimicConstraint >	Mimic () const
	Get the Mimic constraint parameters.

Errors	ResolveXyz (gz::math::Vector3d &_xyz, const std::string &_resolveTo="") const
	Express xyz unit vector of this axis in the coordinates of another named frame.

void	SetDamping (const double _damping)
	Set the physical velocity dependent viscous damping coefficient of the joint axis.

void	SetDissipation (const double _dissipation)
	Set the joint stop dissipation.

void	SetEffort (double _effort)
	Set the value for enforcing the maximum absolute joint effort that can be applied.

void	SetFriction (const double _friction)
	Set the physical static friction value of the joint.

void	SetLower (const double _lower)
	Set the lower joint axis limit (radians for revolute joints, meters for prismatic joints).

void	SetMaxVelocity (const double _velocity)
	Set the value for enforcing the maximum absolute joint velocity.

void	SetMimic (const MimicConstraint &_mimic)
	Set the Mimic constraint parameters.

void	SetSpringReference (const double _spring)
	Set the spring reference position for this joint axis.

void	SetSpringStiffness (const double _spring)
	Set the spring stiffness for this joint axis.

void	SetStiffness (const double _stiffness)
	Get the joint stop stiffness.

void	SetUpper (const double _upper)
	Set the upper joint axis limit (radians for revolute joints, meters for prismatic joints).

sdf::Errors	SetXyz (const gz::math::Vector3d &_xyz)
	Set the x,y,z components of the axis unit vector.

void	SetXyzExpressedIn (const std::string &_frame)
	Set the name of the coordinate frame in which this joint axis's unit vector is expressed.

double	SpringReference () const
	Get the spring reference position for this joint axis.

double	SpringStiffness () const
	Get the spring stiffness for this joint axis.

double	Stiffness () const
	Get the joint stop stiffness.

sdf::ElementPtr	ToElement (sdf::Errors &_errors, unsigned int _index=0u) const
	Create and return an SDF element filled with data from this joint axis.

sdf::ElementPtr	ToElement (unsigned int _index=0u) const
	Create and return an SDF element filled with data from this joint axis.

double	Upper () const
	Get the upper joint axis limit (radians for revolute joints, meters for prismatic joints).

gz::math::Vector3d	Xyz () const
	Get the x,y,z components of the axis unit vector.

const std::string &	XyzExpressedIn () const
	Get the name of the coordinate frame in which this joint axis's unit vector is expressed.

Detailed Description

Parameters related to the axis of rotation for rotational joints, and the axis of translation for prismatic joints.

Constructor & Destructor Documentation

◆ JointAxis()

sdf::SDF_VERSION_NAMESPACE::JointAxis::JointAxis ( )

Default constructor.

Member Function Documentation

◆ Damping()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::Damping ( ) const

Get the physical velocity dependent viscous damping coefficient of the joint axis.

The default value is zero (0.0).

Returns: The physical velocity dependent viscous damping coefficient of the joint axis

See also: void SetDamping(const double _damping)

◆ Dissipation()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::Dissipation ( ) const

Get the joint stop dissipation.

The default value is 1.0.

Returns: The joint stop dissipation.

See also: void SetDissipation(const double _dissipation) const

◆ Effort()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::Effort ( ) const

Get the value for enforcing the maximum absolute joint effort that can be applied.

The limit is not enforced if the value is infinity. The default value is infinity.

Returns: Symmetric effort limit.

See also: void SetEffort(double _effort)

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::JointAxis::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.

◆ Friction()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::Friction ( ) const

Get the physical static friction value of the joint.

The default value is zero (0.0).

Returns: The physical static friction value of the joint.

See also: void SetFriction(const double _friction)

◆ Load()

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

Load the joint axis 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.

◆ Lower()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::Lower ( ) const

Get the lower joint axis limit (radians for revolute joints, meters for prismatic joints).

Not valid if the joint that uses this axis is continuous. The default value is -1e16.

Returns: The lower joint axis limit

See also: void SetLower(const double _lower)

◆ MaxVelocity()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::MaxVelocity ( ) const

Get the value for enforcing the maximum absolute joint velocity.

The default value is infinity.

Returns: The value for enforcing the maximum absolute joint velocity.

See also: void SetVelocity(const double _velocity) const

◆ Mimic()

std::optional< MimicConstraint > sdf::SDF_VERSION_NAMESPACE::JointAxis::Mimic ( ) const

Get the Mimic constraint parameters.

Returns: A MimicConstraint object containing the leader joint and axis names names, multiplier, offset, and reference to be used for mimicking.

See also: void SetMimic(const MimicConstraint)

◆ ResolveXyz()

Errors sdf::SDF_VERSION_NAMESPACE::JointAxis::ResolveXyz	(	gz::math::Vector3d &	_xyz,
		const std::string &	_resolveTo = `""`
	)		const

Express xyz unit vector of this axis in the coordinates of another named frame.

Parameters

[out]	_xyz	Resolved unit vector.
[in]	_resolveTo	Name of frame in whose coordinates this object should be resolved. If unset, it is resolved in the coordinates of its xml parent object, which is always a joint frame.

Returns: Errors.

◆ SetDamping()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetDamping ( const double _damping )

Set the physical velocity dependent viscous damping coefficient of the joint axis.

Parameters

[in] _damping The physical velocity dependent viscous damping coefficient of the joint axis

See also: double Damping() const

◆ SetDissipation()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetDissipation ( const double _dissipation )

Set the joint stop dissipation.

Parameters

[in] _dissipation The joint stop dissipation.

See also: double Dissipation() const

◆ SetEffort()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetEffort ( double _effort )

Set the value for enforcing the maximum absolute joint effort that can be applied.

The limit is not enforced if the value is infinity.

Parameters

[in] _effort Symmetric effort limit.

See also: double Effort() const

◆ SetFriction()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetFriction ( const double _friction )

Set the physical static friction value of the joint.

Parameters

[in] _friction The physical static friction value of the joint.

See also: double Friction()

◆ SetLower()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetLower ( const double _lower )

Set the lower joint axis limit (radians for revolute joints, meters for prismatic joints).

Not valid if the joint that uses this axis is continuous.

Parameters

[in] _lower The lower joint axis limit

See also: double Lower() const

◆ SetMaxVelocity()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetMaxVelocity ( const double _velocity )

Set the value for enforcing the maximum absolute joint velocity.

Parameters

[in] _velocity The value for enforcing the maximum absolute joint velocity.

See also: double MaxVelocity() const

◆ SetMimic()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetMimic ( const MimicConstraint & _mimic )

Set the Mimic constraint parameters.

Parameters

[in] _mimic A MimicConstraint object containing the leader joint and axis names names, multiplier, offset, and reference to be used for mimicking.

See also: MimicConstraint Mimic()

◆ SetSpringReference()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetSpringReference ( const double _spring )

Set the spring reference position for this joint axis.

Parameters

[in] _spring The spring reference position for this joint axis.

See also: double SpringReference() const

◆ SetSpringStiffness()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetSpringStiffness ( const double _spring )

Set the spring stiffness for this joint axis.

Parameters

[in] _spring The spring stiffness for this joint axis.

See also: double SpringStiffness() const

◆ SetStiffness()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetStiffness ( const double _stiffness )

Get the joint stop stiffness.

Parameters

[in] _stiffness The joint stop stiffness.

Returns: The joint stop stiffness.

See also: double Stiffness() const

◆ SetUpper()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetUpper ( const double _upper )

Set the upper joint axis limit (radians for revolute joints, meters for prismatic joints).

Not valid if joint that uses this axis is continuous.

Parameters

[in] _upper The upper joint axis limit.

See also: double Upper() const

◆ SetXyz()

sdf::Errors sdf::SDF_VERSION_NAMESPACE::JointAxis::SetXyz ( const gz::math::Vector3d & _xyz )

Set the x,y,z components of the axis unit vector.

Parameters

[in] _xyz The x,y,z components of the axis unit vector.

See also: gz::math::Vector3d Xyz() const

Returns: Errors will have an entry if the norm of the xyz vector is 0.

◆ SetXyzExpressedIn()

void sdf::SDF_VERSION_NAMESPACE::JointAxis::SetXyzExpressedIn ( const std::string & _frame )

Set the name of the coordinate frame in which this joint axis's unit vector is expressed.

An empty value implies the parent (joint) frame.

Parameters

[in] The name of the xyz expressed-in frame.

◆ SpringReference()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::SpringReference ( ) const

Get the spring reference position for this joint axis.

The default value is zero (0.0).

Returns: The spring reference position for this joint axis.

See also: void SetSpringReference(const double _spring)

◆ SpringStiffness()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::SpringStiffness ( ) const

Get the spring stiffness for this joint axis.

The default value is zero (0.0).

Returns: The spring stiffness for this joint axis.

See also: void SetSpringStiffness(const double _spring)

◆ Stiffness()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::Stiffness ( ) const

Get the joint stop stiffness.

The default value is 1e8.

Returns: The joint stop stiffness.

See also: void SetStiffness(const double _stiffness) const

◆ ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::JointAxis::ToElement	(	sdf::Errors &	_errors,
		unsigned int	_index = `0u`
	)		const

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

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

Parameters

[out]	_errors	Vector of errors.
[in]	_index	Index of this joint axis

Returns: SDF element pointer with updated joint values.

◆ ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::JointAxis::ToElement ( unsigned int _index = 0u ) const

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

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

Parameters

[in] _index Index of this joint axis

Returns: SDF element pointer with updated joint values.

◆ Upper()

double sdf::SDF_VERSION_NAMESPACE::JointAxis::Upper ( ) const

Get the upper joint axis limit (radians for revolute joints, meters for prismatic joints).

Not valid if joint that uses this axis is continuous. The default value is 1e16.

Returns: The upper joint axis limit.

See also: double SetUpper(const double _upper) const

◆ Xyz()

gz::math::Vector3d sdf::SDF_VERSION_NAMESPACE::JointAxis::Xyz ( ) const

Get the x,y,z components of the axis unit vector.

The axis is expressed in the frame named in XyzExpressedIn() and defaults to the joint frame if that method returns an empty string. The vector should be normalized. The default value is gz::math::Vector3d::UnitZ which equals (0, 0, 1).

Returns: The x,y,z components of the axis unit vector.

See also: void SetXyz(const gz::math::Vector3d &_xyz)

◆ XyzExpressedIn()

const std::string & sdf::SDF_VERSION_NAMESPACE::JointAxis::XyzExpressedIn ( ) const

Get the name of the coordinate frame in which this joint axis's unit vector is expressed.

An empty value implies the parent (joint) frame.

Returns: The name of the xyz expressed-in frame.

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

JointAxis.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ JointAxis()

Member Function Documentation

◆ Damping()

◆ Dissipation()

◆ Effort()

◆ Element()

◆ Friction()

◆ Load()

◆ Lower()

◆ MaxVelocity()

◆ Mimic()

◆ ResolveXyz()

◆ SetDamping()

◆ SetDissipation()

◆ SetEffort()

◆ SetFriction()

◆ SetLower()

◆ SetMaxVelocity()

◆ SetMimic()

◆ SetSpringReference()

◆ SetSpringStiffness()

◆ SetStiffness()

◆ SetUpper()

◆ SetXyz()

◆ SetXyzExpressedIn()

◆ SpringReference()

◆ SpringStiffness()

◆ Stiffness()

◆ ToElement() [1/2]

◆ ToElement() [2/2]

◆ Upper()

◆ Xyz()

◆ XyzExpressedIn()