#include <Link.h>

Inheritance diagram for cnoid::Link:

Public Types
enum	JointType { REVOLUTE_JOINT = 0, ROTATIONAL_JOINT = REVOLUTE_JOINT, SLIDE_JOINT = 1, FREE_JOINT = 2, FIXED_JOINT = 3, PSEUDO_CONTINUOUS_TRACK = 4, CRAWLER_JOINT = 5, AGX_CRAWLER_JOINT = 6 }

Public Member Functions
	Link ()

	Link (const Link &link)

virtual	~Link ()

int	index () const

bool	isValid () const

Link *	parent () const

Link *	sibling () const

Link *	child () const

bool	isRoot () const

Body *	body ()

const Body *	body () const

Position &	T ()

const Position &	T () const

Position &	position ()

const Position &	position () const

template<class Scalar , int Mode, int Options>
void	setPosition (const Eigen::Transform< Scalar, 3, Mode, Options > &T)

template<typename Derived1 , typename Derived2 >
void	setPosition (const Eigen::MatrixBase< Derived1 > &rotation, const Eigen::MatrixBase< Derived2 > &translation)

Position::TranslationPart	p ()

Position::ConstTranslationPart	p () const

Position::TranslationPart	translation ()

Position::ConstTranslationPart	translation () const

template<typename Derived >
void	setTranslation (const Eigen::MatrixBase< Derived > &p)

Position::LinearPart	R ()

Position::ConstLinearPart	R () const

Position::LinearPart	rotation ()

Position::ConstLinearPart	rotation () const

template<typename Derived >
void	setRotation (const Eigen::MatrixBase< Derived > &R)

template<typename T >
void	setRotation (const Eigen::AngleAxis< T > &a)

Position &	Tb ()

const Position &	Tb () const

Position::ConstTranslationPart	b () const

Position::ConstTranslationPart	offsetTranslation () const

Position::ConstLinearPart	Rb () const

Position::ConstLinearPart	offsetRotation () const

Matrix3 &	Rs ()

const Matrix3 &	Rs () const

int	jointId () const

JointType	jointType () const

bool	isFixedJoint () const

bool	isFreeJoint () const

bool	isRotationalJoint () const

bool	isSlideJoint () const

std::string	jointTypeString () const

const Vector3 &	a () const

const Vector3 &	jointAxis () const

const Vector3 &	d () const

double	q () const

double &	q ()

double	dq () const

double &	dq ()

double	ddq () const

double &	ddq ()

double	u () const

double &	u ()

double	q_upper () const
	the upper limit of joint values More...

double	q_lower () const
	the lower limit of joint values More...

double	dq_upper () const
	the upper limit of joint velocities More...

double	dq_lower () const
	the upper limit of joint velocities More...

const Vector3 &	v () const

Vector3 &	v ()

const Vector3 &	w () const

Vector3 &	w ()

const Vector3 &	dv () const

Vector3 &	dv ()

const Vector3 &	dw () const

Vector3 &	dw ()

const Vector3 &	c () const
	center of mass (self local) More...

const Vector3 &	centerOfMass () const

const Vector3 &	wc () const
	center of mass (world coordinate) More...

const Vector3 &	centerOfMassGlobal () const

Vector3 &	wc ()

double	m () const
	mass More...

double	mass () const
	inertia tensor (self local, around c) More...

const Matrix3 &	I () const

double	Jm2 () const
	Equivalent rotor inertia: n^2*Jm [kg.m^2]. More...

const Vector6 &	F_ext () const

Vector6 &	F_ext ()

Vector6::ConstFixedSegmentReturnType< 3 >::Type	f_ext () const

Vector6::FixedSegmentReturnType< 3 >::Type	f_ext ()

Vector6::ConstFixedSegmentReturnType< 3 >::Type	tau_ext () const

Vector6::FixedSegmentReturnType< 3 >::Type	tau_ext ()

const std::string &	name () const

SgNode *	shape () const

SgNode *	visualShape () const

SgNode *	collisionShape () const

void	setIndex (int index)

virtual void	prependChild (Link *link)

virtual void	appendChild (Link *link)

bool	removeChild (Link *link)

void	setOffsetPosition (const Position &T)

template<typename Derived >
void	setOffsetTranslation (const Eigen::MatrixBase< Derived > &offset)

template<typename Derived >
void	setOffsetRotation (const Eigen::MatrixBase< Derived > &offset)

template<typename T >
void	setOffsetRotation (const Eigen::AngleAxis< T > &a)

template<typename Derived >
void	setAccumulatedSegmentRotation (const Eigen::MatrixBase< Derived > &Rs)

void	setJointType (JointType type)

void	setJointId (int id)

void	setJointAxis (const Vector3 &axis)

void	setJointRange (double lower, double upper)

void	setJointVelocityRange (double lower, double upper)

void	setCenterOfMass (const Vector3 &c)

void	setMass (double m)

void	setInertia (const Matrix3 &I)

void	setEquivalentRotorInertia (double Jm2)

void	setName (const std::string &name)

void	setShape (SgNode *shape)

void	setVisualShape (SgNode *shape)

void	setCollisionShape (SgNode *shape)

Matrix3	attitude () const

void	setAttitude (const Matrix3 &Ra)

Matrix3	calcRfromAttitude (const Matrix3 &Ra)

const Mapping *	info () const

Mapping *	info ()

template<typename T >
T	info (const std::string &key) const

template<typename T >
T	info (const std::string &key, const T &defaultValue) const

template<typename T >
void	setInfo (const std::string &key, const T &value)

void	resetInfo (Mapping *info)

double	initialJointDisplacement () const

double &	initialJointDisplacement ()

template<>
double	info (const std::string &key) const

template<>
double	info (const std::string &key, const double &defaultValue) const

template<>
void	setInfo (const std::string &key, const double &value)

template<>
CNOID_EXPORT double	info (const std::string &key) const

template<>
CNOID_EXPORT double	info (const std::string &key, const double &defaultValue) const

template<>
CNOID_EXPORT void	setInfo (const std::string &key, const double &value)

Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

void	addRef ()

void	releaseRef ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Friends
class	Body

Additional Inherited Members
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()

	Referenced (const Referenced &org)

int	refCount () const

Member Enumeration Documentation

◆ JointType

enum cnoid::Link::JointType

Enumerator
REVOLUTE_JOINT	rotational joint (1 dof)
ROTATIONAL_JOINT
SLIDE_JOINT	translational joint (1 dof)
FREE_JOINT	6-DOF root link
FIXED_JOINT	fixed joint(0 dof)
PSEUDO_CONTINUOUS_TRACK	special joint for simplified simulation of a continuous track
CRAWLER_JOINT
AGX_CRAWLER_JOINT

Constructor & Destructor Documentation

◆ Link() [1/2]

Link::Link ( )

◆ Link() [2/2]

Link::Link ( const Link & link )

This does shallow copy. You have to use the copy constructor of the Body class to copy the link tree

Todo:: add the mode for doing deep copy of the following objects

◆ ~Link()

Link::~Link ( )

virtual

Member Function Documentation

◆ a()

const Vector3& cnoid::Link::a ( ) const

inline

◆ appendChild()

void Link::appendChild ( Link * link )

virtual

Reimplemented in cnoid::DyLink.

◆ attitude()

Matrix3 cnoid::Link::attitude ( ) const

inline

◆ b()

Position::ConstTranslationPart cnoid::Link::b ( ) const

inline

◆ body() [1/2]

Body* cnoid::Link::body ( )

inline

◆ body() [2/2]

const Body* cnoid::Link::body ( ) const

inline

◆ c()

const Vector3& cnoid::Link::c ( ) const

inline

center of mass (self local)

◆ calcRfromAttitude()

Matrix3 cnoid::Link::calcRfromAttitude ( const Matrix3 & Ra )

inline

◆ centerOfMass()

const Vector3& cnoid::Link::centerOfMass ( ) const

inline

◆ centerOfMassGlobal()

const Vector3& cnoid::Link::centerOfMassGlobal ( ) const

inline

◆ child()

Link* cnoid::Link::child ( ) const

inline

◆ collisionShape()

SgNode* cnoid::Link::collisionShape ( ) const

inline

◆ d()

const Vector3& cnoid::Link::d ( ) const

inline

◆ ddq() [1/2]

double cnoid::Link::ddq ( ) const

inline

◆ ddq() [2/2]

double& cnoid::Link::ddq ( )

inline

◆ dq() [1/2]

double cnoid::Link::dq ( ) const

inline

◆ dq() [2/2]

double& cnoid::Link::dq ( )

inline

◆ dq_lower()

double cnoid::Link::dq_lower ( ) const

inline

the upper limit of joint velocities

◆ dq_upper()

double cnoid::Link::dq_upper ( ) const

inline

the upper limit of joint velocities

◆ dv() [1/2]

const Vector3& cnoid::Link::dv ( ) const

inline

◆ dv() [2/2]

Vector3& cnoid::Link::dv ( )

inline

◆ dw() [1/2]

const Vector3& cnoid::Link::dw ( ) const

inline

◆ dw() [2/2]

Vector3& cnoid::Link::dw ( )

inline

◆ F_ext() [1/2]

const Vector6& cnoid::Link::F_ext ( ) const

inline

◆ F_ext() [2/2]

Vector6& cnoid::Link::F_ext ( )

inline

◆ f_ext() [1/2]

Vector6::ConstFixedSegmentReturnType<3>::Type cnoid::Link::f_ext ( ) const

inline

◆ f_ext() [2/2]

Vector6::FixedSegmentReturnType<3>::Type cnoid::Link::f_ext ( )

inline

◆ I()

const Matrix3& cnoid::Link::I ( ) const

inline

◆ index()

int cnoid::Link::index ( ) const

inline

◆ info() [1/8]

template<>

double cnoid::Link::info ( const std::string & key ) const

◆ info() [2/8]

template<>

double cnoid::Link::info	(	const std::string &	key,
		const double &	defaultValue
	)		const

◆ info() [3/8]

const Mapping* cnoid::Link::info ( ) const

inline

◆ info() [4/8]

Mapping* cnoid::Link::info ( )

inline

◆ info() [5/8]

template<typename T >

T cnoid::Link::info ( const std::string & key ) const

◆ info() [6/8]

template<typename T >

T cnoid::Link::info	(	const std::string &	key,
		const T &	defaultValue
	)		const

◆ info() [7/8]

template<>

CNOID_EXPORT double cnoid::Link::info ( const std::string & key ) const

◆ info() [8/8]

template<>

CNOID_EXPORT double cnoid::Link::info	(	const std::string &	key,
		const double &	defaultValue
	)		const

◆ initialJointDisplacement() [1/2]

double cnoid::Link::initialJointDisplacement ( ) const

inline

◆ initialJointDisplacement() [2/2]

double& cnoid::Link::initialJointDisplacement ( )

inline

◆ isFixedJoint()

bool cnoid::Link::isFixedJoint ( ) const

inline

◆ isFreeJoint()

bool cnoid::Link::isFreeJoint ( ) const

inline

◆ isRoot()

bool cnoid::Link::isRoot ( ) const

inline

◆ isRotationalJoint()

bool cnoid::Link::isRotationalJoint ( ) const

inline

◆ isSlideJoint()

bool cnoid::Link::isSlideJoint ( ) const

inline

◆ isValid()

bool cnoid::Link::isValid ( ) const

inline

◆ Jm2()

double cnoid::Link::Jm2 ( ) const

inline

Equivalent rotor inertia: n^2*Jm [kg.m^2].

◆ jointAxis()

const Vector3& cnoid::Link::jointAxis ( ) const

inline

◆ jointId()

int cnoid::Link::jointId ( ) const

inline

◆ jointType()

JointType cnoid::Link::jointType ( ) const

inline

◆ jointTypeString()

std::string Link::jointTypeString ( ) const

◆ m()

double cnoid::Link::m ( ) const

inline

mass

◆ mass()

double cnoid::Link::mass ( ) const

inline

inertia tensor (self local, around c)

◆ name()

const std::string& cnoid::Link::name ( ) const

inline

◆ offsetRotation()

Position::ConstLinearPart cnoid::Link::offsetRotation ( ) const

inline

◆ offsetTranslation()

Position::ConstTranslationPart cnoid::Link::offsetTranslation ( ) const

inline

◆ p() [1/2]

Position::TranslationPart cnoid::Link::p ( )

inline

◆ p() [2/2]

Position::ConstTranslationPart cnoid::Link::p ( ) const

inline

◆ parent()

Link* cnoid::Link::parent ( ) const

inline

◆ position() [1/2]

Position& cnoid::Link::position ( )

inline

◆ position() [2/2]

const Position& cnoid::Link::position ( ) const

inline

◆ prependChild()

void Link::prependChild ( Link * link )

virtual

Reimplemented in cnoid::DyLink.

◆ q() [1/2]

double cnoid::Link::q ( ) const

inline

◆ q() [2/2]

double& cnoid::Link::q ( )

inline

◆ q_lower()

double cnoid::Link::q_lower ( ) const

inline

the lower limit of joint values

◆ q_upper()

double cnoid::Link::q_upper ( ) const

inline

the upper limit of joint values

◆ R() [1/2]

Position::LinearPart cnoid::Link::R ( )

inline

◆ R() [2/2]

Position::ConstLinearPart cnoid::Link::R ( ) const

inline

◆ Rb()

Position::ConstLinearPart cnoid::Link::Rb ( ) const

inline

◆ removeChild()

bool Link::removeChild ( Link * childToRemove )

A child link is removed from the link. If a link given by the parameter is not a child of the link, false is returned.

◆ resetInfo()

void Link::resetInfo ( Mapping * info )

◆ rotation() [1/2]

Position::LinearPart cnoid::Link::rotation ( )

inline

◆ rotation() [2/2]

Position::ConstLinearPart cnoid::Link::rotation ( ) const

inline

◆ Rs() [1/2]

Matrix3& cnoid::Link::Rs ( )

inline

◆ Rs() [2/2]

const Matrix3& cnoid::Link::Rs ( ) const

inline

◆ setAccumulatedSegmentRotation()

template<typename Derived >

void cnoid::Link::setAccumulatedSegmentRotation ( const Eigen::MatrixBase< Derived > & Rs )

inline

◆ setAttitude()

void cnoid::Link::setAttitude ( const Matrix3 & Ra )

inline

◆ setCenterOfMass()

void cnoid::Link::setCenterOfMass ( const Vector3 & c )

inline

◆ setCollisionShape()

void Link::setCollisionShape ( SgNode * shape )

◆ setEquivalentRotorInertia()

void cnoid::Link::setEquivalentRotorInertia ( double Jm2 )

inline

◆ setIndex()

void cnoid::Link::setIndex ( int index )

inline

◆ setInertia()

void cnoid::Link::setInertia ( const Matrix3 & I )

inline

◆ setInfo() [1/3]

template<>

void cnoid::Link::setInfo	(	const std::string &	key,
		const double &	value
	)

◆ setInfo() [2/3]

template<typename T >

void cnoid::Link::setInfo	(	const std::string &	key,
		const T &	value
	)

◆ setInfo() [3/3]

template<>

CNOID_EXPORT void cnoid::Link::setInfo	(	const std::string &	key,
		const double &	value
	)

◆ setJointAxis()

void cnoid::Link::setJointAxis ( const Vector3 & axis )

inline

◆ setJointId()

void cnoid::Link::setJointId ( int id )

inline

◆ setJointRange()

void cnoid::Link::setJointRange	(	double	lower,
		double	upper
	)

inline

◆ setJointType()

void cnoid::Link::setJointType ( JointType type )

inline

◆ setJointVelocityRange()

void cnoid::Link::setJointVelocityRange	(	double	lower,
		double	upper
	)

inline

◆ setMass()

void cnoid::Link::setMass ( double m )

inline

◆ setName()

void Link::setName ( const std::string & name )

◆ setOffsetPosition()

void cnoid::Link::setOffsetPosition ( const Position & T )

inline

◆ setOffsetRotation() [1/2]

template<typename Derived >

void cnoid::Link::setOffsetRotation ( const Eigen::MatrixBase< Derived > & offset )

inline

◆ setOffsetRotation() [2/2]

template<typename T >

void cnoid::Link::setOffsetRotation ( const Eigen::AngleAxis< T > & a )

inline

◆ setOffsetTranslation()

template<typename Derived >

void cnoid::Link::setOffsetTranslation ( const Eigen::MatrixBase< Derived > & offset )

inline

◆ setPosition() [1/2]

template<class Scalar , int Mode, int Options>

void cnoid::Link::setPosition ( const Eigen::Transform< Scalar, 3, Mode, Options > & T )

inline

◆ setPosition() [2/2]

template<typename Derived1 , typename Derived2 >

void cnoid::Link::setPosition	(	const Eigen::MatrixBase< Derived1 > &	rotation,
		const Eigen::MatrixBase< Derived2 > &	translation
	)

inline

◆ setRotation() [1/2]

template<typename Derived >

void cnoid::Link::setRotation ( const Eigen::MatrixBase< Derived > & R )

inline

◆ setRotation() [2/2]

template<typename T >

void cnoid::Link::setRotation ( const Eigen::AngleAxis< T > & a )

inline

◆ setShape()

void Link::setShape ( SgNode * shape )

◆ setTranslation()

template<typename Derived >

void cnoid::Link::setTranslation ( const Eigen::MatrixBase< Derived > & p )

inline

◆ setVisualShape()

void Link::setVisualShape ( SgNode * shape )

◆ shape()

SgNode* cnoid::Link::shape ( ) const

inline

◆ sibling()

Link* cnoid::Link::sibling ( ) const

inline

◆ T() [1/2]

Position& cnoid::Link::T ( )

inline

◆ T() [2/2]

const Position& cnoid::Link::T ( ) const

inline

◆ tau_ext() [1/2]

Vector6::ConstFixedSegmentReturnType<3>::Type cnoid::Link::tau_ext ( ) const

inline

◆ tau_ext() [2/2]

Vector6::FixedSegmentReturnType<3>::Type cnoid::Link::tau_ext ( )

inline

◆ Tb() [1/2]

Position& cnoid::Link::Tb ( )

inline

◆ Tb() [2/2]

const Position& cnoid::Link::Tb ( ) const

inline

◆ translation() [1/2]

Position::TranslationPart cnoid::Link::translation ( )

inline

◆ translation() [2/2]

Position::ConstTranslationPart cnoid::Link::translation ( ) const

inline

◆ u() [1/2]

double cnoid::Link::u ( ) const

inline

◆ u() [2/2]

double& cnoid::Link::u ( )

inline

◆ v() [1/2]

const Vector3& cnoid::Link::v ( ) const

inline

◆ v() [2/2]

Vector3& cnoid::Link::v ( )

inline

◆ visualShape()

SgNode* cnoid::Link::visualShape ( ) const

inline

◆ w() [1/2]

const Vector3& cnoid::Link::w ( ) const

inline

◆ w() [2/2]

Vector3& cnoid::Link::w ( )

inline

◆ wc() [1/2]

const Vector3& cnoid::Link::wc ( ) const

inline

center of mass (world coordinate)

◆ wc() [2/2]

Vector3& cnoid::Link::wc ( )

inline

Friends And Related Function Documentation

◆ Body

friend class Body

friend

Member Data Documentation

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

cnoid::Link::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

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

Public Types

Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Member Enumeration Documentation

◆ JointType

Constructor & Destructor Documentation

◆ Link() [1/2]

◆ Link() [2/2]

◆ ~Link()

Member Function Documentation

◆ a()

◆ appendChild()

◆ attitude()

◆ b()

◆ body() [1/2]

◆ body() [2/2]

◆ c()

◆ calcRfromAttitude()

◆ centerOfMass()

◆ centerOfMassGlobal()

◆ child()

◆ collisionShape()

◆ d()

◆ ddq() [1/2]

◆ ddq() [2/2]

◆ dq() [1/2]

◆ dq() [2/2]

◆ dq_lower()

◆ dq_upper()

◆ dv() [1/2]

◆ dv() [2/2]

◆ dw() [1/2]

◆ dw() [2/2]

◆ F_ext() [1/2]

◆ F_ext() [2/2]

◆ f_ext() [1/2]

◆ f_ext() [2/2]

◆ I()

◆ index()

◆ info() [1/8]

◆ info() [2/8]

◆ info() [3/8]

◆ info() [4/8]

◆ info() [5/8]

◆ info() [6/8]

◆ info() [7/8]

◆ info() [8/8]

◆ initialJointDisplacement() [1/2]

◆ initialJointDisplacement() [2/2]

◆ isFixedJoint()

◆ isFreeJoint()

◆ isRoot()

◆ isRotationalJoint()

◆ isSlideJoint()

◆ isValid()

◆ Jm2()

◆ jointAxis()

◆ jointId()

◆ jointType()

◆ jointTypeString()

◆ m()

◆ mass()

◆ name()

◆ offsetRotation()

◆ offsetTranslation()

◆ p() [1/2]

◆ p() [2/2]

◆ parent()

◆ position() [1/2]

◆ position() [2/2]

◆ prependChild()

◆ q() [1/2]

◆ q() [2/2]

◆ q_lower()

◆ q_upper()

◆ R() [1/2]

◆ R() [2/2]

◆ Rb()