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28 const double& _inertia,
const double& _damping,
const double& _stiffness):
29 name(_name),type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness)
37 const double& _inertia,
const double& _damping,
const double& _stiffness):
38 name(
"NoName"),type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness)
46 const double& _offset,
const double& _inertia,
const double& _damping,
const double& _stiffness):
47 name(_name), type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness)
48 , axis(_axis / _axis.
Norm()), origin(_origin)
56 const double& _offset,
const double& _inertia,
const double& _damping,
const double& _stiffness):
57 name(
"NoName"), type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness),
58 axis(_axis / _axis.
Norm()),origin(_origin)
static Rotation Rot2(const Vector &rotvec, double angle)
Along an arbitrary axes. rotvec should be normalized.
KDL::Joint::joint_type_exception joint_type_ex
Twist twist(const double &qdot) const
Joint(const std::string &name, const JointType &type=Fixed, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)
Vector JointOrigin() const
static Rotation RotY(double angle)
The Rot... static functions give the value of the appropriate rotation matrix back.
Frame pose(const double &q) const
A concrete implementation of a 3 dimensional vector class.
represents both translational and rotational velocities.
INLINE S Norm(const Rall1d< T, V, S > &value)
static Rotation RotZ(double angle)
The Rot... static functions give the value of the appropriate rotation matrix back.
represents a frame transformation in 3D space (rotation + translation)
static Rotation RotX(double angle)
The Rot... static functions give the value of the appropriate rotation matrix back.