KrisLibrary  1.0.0
Public Types | Public Member Functions | Public Attributes | List of all members
KinematicLink3D Class Reference
Inheritance diagram for KinematicLink3D:
DynamicLink3D

Public Types

enum  Type { Revolute, Prismatic, Spherical }
 

Public Member Functions

void SetRotationJoint (const Vector3 &w)
 
void SetTranslationJoint (const Vector3 &v)
 
void GetLocalTransform (Real qi, Frame3D &T) const
 
void GetVelocity (Real qi, Real dqi, const Vector3 &p, Vector3 &vel) const
 
void GetAngularVelocity (Real dqi, Vector3 &omega) const
 
void GetJacobian (Real qi, const Vector3 &p, Vector3 &Jo, Vector3 &Jp) const
 
void GetOrientationJacobian (Vector3 &Jo) const
 
void GetPositionJacobian (Real qi, const Vector3 &p, Vector3 &Jp) const
 
void GetJacobian (Real qi, Frame3D &J) const
 
void GetJacobian (Real qi, const Frame3D &Tj_World, Frame3D &J) const
 

Public Attributes

Type type
 
Vector3 w
 
Frame3D T0_Parent
 
Frame3D T_World
 

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