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. More...

	JointAxis (const JointAxis &_jointAxis)
	Copy constructor. More...

	JointAxis (JointAxis &&_jointAxis) noexcept
	Move constructor. More...

	~JointAxis ()
	Destructor. More...

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

double	Dissipation () const
	Get the joint stop dissipation. More...

double	Effort () const
	Get the value for enforcing the maximum joint effort applied. More...

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

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

double	InitialPosition () const
	Get the initial joint position for this joint axis. More...

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

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

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

JointAxis &	operator= (const JointAxis &_jointAxis)
	Copy assignment operator. More...

JointAxis &	operator= (JointAxis &&_jointAxis)
	Move assignment operator. More...

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. More...

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

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

void	SetEffort (double _effort)
	Set the value for enforcing the maximum joint effort applied. More...

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

void	SetInitialPosition (const double _pos)
	Set the initial joint position for this joint axis. More...

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

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

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

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

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

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

void	SetUseParentModelFrame (const bool _parentModelFrame) SDF_DEPRECATED(9.0)
	Set whether to interpret the axis xyz value in the parent model instead of the joint frame. More...

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

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

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

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

double	Stiffness () const
	Get the joint stop stiffness. More...

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

bool	UseParentModelFrame () const SDF_DEPRECATED(9.0)
	Get whether to interpret the axis xyz value in the parent model frame instead of joint frame. More...

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

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

Detailed Description

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

Constructor & Destructor Documentation

◆ JointAxis() [1/3]

sdf::v9::JointAxis::JointAxis ( )

Default constructor.

◆ JointAxis() [2/3]

sdf::v9::JointAxis::JointAxis ( const JointAxis & _jointAxis )

Copy constructor.

Parameters

[in] _jointAxis Joint axis to copy.

◆ JointAxis() [3/3]

sdf::v9::JointAxis::JointAxis ( JointAxis && _jointAxis )

noexcept

Move constructor.

Parameters

[in] _jointAxis Joint axis to move.

◆ ~JointAxis()

sdf::v9::JointAxis::~JointAxis ( )

Destructor.

Member Function Documentation

◆ Damping()

double sdf::v9::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::v9::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::v9::JointAxis::Effort ( ) const

Get the value for enforcing the maximum joint effort applied.

Limit is not enforced if value is negative. The default value is -1.

Returns: Effort limit.

See also: void SetEffort(double _effort)

◆ Element()

sdf::ElementPtr sdf::v9::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::v9::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)

◆ InitialPosition()

double sdf::v9::JointAxis::InitialPosition ( ) const

Get the initial joint position for this joint axis.

The default value is zero (0.0).

Returns: The initial joint position.

See also: void SetInitialPosition(const double _pos)

◆ Load()

Errors sdf::v9::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::v9::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::v9::JointAxis::MaxVelocity ( ) const

Get the value for enforcing the maximum joint velocity.

The default value is -1.

Returns: The value for enforcing the maximum joint velocity.

See also: void SetVelocity(const double _velocity) const

◆ operator=() [1/2]

JointAxis& sdf::v9::JointAxis::operator= ( const JointAxis & _jointAxis )

Copy assignment operator.

Parameters

[in] _jointAxis JointAxis component to copy.

Returns: Reference to this.

◆ operator=() [2/2]

JointAxis& sdf::v9::JointAxis::operator= ( JointAxis && _jointAxis )

Move assignment operator.

Parameters

[in] _jointAxis JointAxis component to move.

Returns: Reference to this.

◆ ResolveXyz()

Errors sdf::v9::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::v9::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::v9::JointAxis::SetDissipation ( const double _dissipation ) const

Set the joint stop dissipation.

Parameters

[in] _dissipation The joint stop dissipation.

See also: double Dissipation() const

◆ SetEffort()

void sdf::v9::JointAxis::SetEffort ( double _effort )

Set the value for enforcing the maximum joint effort applied.

Limit is not enforced if value is negative.

Parameters

[in] _effort Effort limit.

See also: double Effort() const

◆ SetFriction()

void sdf::v9::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()

◆ SetInitialPosition()

void sdf::v9::JointAxis::SetInitialPosition ( const double _pos )

Set the initial joint position for this joint axis.

Parameters

[in] _pos The initial joint position.

See also: double InitialPosition() const

◆ SetLower()

void sdf::v9::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::v9::JointAxis::SetMaxVelocity ( const double _velocity ) const

Set the value for enforcing the maximum joint velocity.

Parameters

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

See also: double Velocity() const

◆ SetSpringReference()

void sdf::v9::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::v9::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::v9::JointAxis::SetStiffness ( const double _stiffness ) const

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::v9::JointAxis::SetUpper ( const double _upper ) const

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

◆ SetUseParentModelFrame()

void sdf::v9::JointAxis::SetUseParentModelFrame ( const bool _parentModelFrame )

Set whether to interpret the axis xyz value in the parent model instead of the joint frame.

Parameters

[in] _parentModelFrame True to interpret the axis xyz value in the parent model frame, false to use the joint frame.

See also: bool UseParentModelFrame() const

◆ SetXyz()

void sdf::v9::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

◆ SetXyzExpressedIn()

void sdf::v9::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::v9::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::v9::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::v9::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

◆ Upper()

double sdf::v9::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

◆ UseParentModelFrame()

bool sdf::v9::JointAxis::UseParentModelFrame ( ) const

Get whether to interpret the axis xyz value in the parent model frame instead of joint frame.

The default value is false.

Returns: True to interpret the axis xyz value in the parent model frame, false to use the joint frame.

See also: void SetUseParentModelFrame(const bool _parentModelFrame)

◆ Xyz()

gz::math::Vector3d sdf::v9::JointAxis::Xyz ( ) const

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

The axis is expressed in the joint frame unless UseParentModelFrame is true. 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::v9::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() [1/3]

◆ JointAxis() [2/3]

◆ JointAxis() [3/3]

◆ ~JointAxis()

Member Function Documentation

◆ Damping()

◆ Dissipation()

◆ Effort()

◆ Element()

◆ Friction()

◆ InitialPosition()

◆ Load()

◆ Lower()

◆ MaxVelocity()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ResolveXyz()

◆ SetDamping()

◆ SetDissipation()

◆ SetEffort()

◆ SetFriction()

◆ SetInitialPosition()

◆ SetLower()

◆ SetMaxVelocity()

◆ SetSpringReference()

◆ SetSpringStiffness()

◆ SetStiffness()

◆ SetUpper()

◆ SetUseParentModelFrame()

◆ SetXyz()

◆ SetXyzExpressedIn()

◆ SpringReference()

◆ SpringStiffness()

◆ Stiffness()

◆ Upper()

◆ UseParentModelFrame()

◆ Xyz()

◆ XyzExpressedIn()