class componentJoint

base class for joint modules using components.

Inheritance:

Public Fields

material mat

material for the joint

rotaryActuator act

the joint's motor

gearBox gbx

the joint's gearhead

componentLimits lim

joint position, velocity, and torque limits computed from the components

Inherited from jointModule:

Inherited from dofModule:

Public Fields

ptrList joints

Public Methods

virtual double maxVel(joint* jt, int dof) const

virtual double maxTorque(joint* jt, int dof, int isBraking) const

virtual double contTorque(joint* jt, int dof) const

virtual double power(joint* jt, int dof) const

virtual int isPassive(joint* jt, int dof) const

inline int numJoints(void) const

inline joint* getJoint(int i)

Inherited from module:

Public Fields

static int currentID

static const tmatrix connectionRotation

configuration* cfg

int ref

char* name

bool isPrototype

handedness whichSide

module* parent

assembly* as

ptrList* params

ptrList* attachments

cptrList* components

const componentContext* context

Public Methods

Virtual methods.

convenience functions

inline const ptrList* getDependencies(int whichParam)

Public Members

enum subType

enum handedness

Protected Methods

void assignConnectorIDs(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

base class for joint modules using components. Derived classes should include the DECLARE_COMPONENT_MEMBERS macro, declared in components.h.

material mat

material for the joint

rotaryActuator act

the joint's motor

gearBox gbx

the joint's gearhead

componentLimits lim

joint position, velocity, and torque limits computed from the components

Direct child classes:

tetherModule
rightAngleJoint
prismaticTube
prismaticBeam3M
prismaticBeam2M
offsetElbow
inlineRevolute2
genericJoint
elbowJoint2

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