Container for the Joint state and information. More...

#include <Joint.h>

Collaboration diagram for XBot::Joint:

Public Types
typedef std::shared_ptr< Joint >	Ptr

typedef std::shared_ptr< const Joint >	ConstPtr

Public Member Functions
	Joint ()
	Default constructor. More...

	Joint (const std::string &joint_name, int joint_id, urdf::JointConstSharedPtr urdf_joint, const std::string &chain_name)
	Construct using the joint name, joint id, urdf joint and chain name. More...

const std::string &	getJointName () const
	Getter for the joint name. More...

int	getJointId () const
	Getter for the joint id. More...

const std::string &	getChainName () const
	Getter for the parent chain name. More...

void	getJointLimits (double &qmin, double &qmax) const
	Getter for the joint position limits in the urdf. More...

void	getVelocityLimit (double &qdot_max) const
	Getter for the joint velocity limit in the urdf. More...

void	getEffortLimit (double &tau_max) const
	Getter for the joint effort limit in the urdf. More...

bool	checkJointLimits (double q) const
	check that the param q is inside the position limits More...

bool	checkVelocityLimit (double qdot) const
	check that the param qdot is below the joint velocity limit More...

bool	checkEffortLimit (double tau) const
	check that the param tau is below the joint effort limit More...

void	enforceJointLimits (double &q) const

void	enforceVelocityLimit (double &qdot) const

void	enforceEffortLimit (double &tau) const

urdf::JointConstSharedPtr	getUrdfJoint () const
	Getter for the urdf Joint object. More...

void	print () const
	Prints a pretty table about joint state. More...

void	printTracking () const
	Prints a pretty table about joint tracking error. More...

bool	isFixedControlledJoint () const
	return true if the joint is specified fixed in the model, but inside the controlled_joints group of the SRDF e.g. More...

void	setJointPosition (double link_pos)
	Setter for the link side encoder reading. More...

void	setMotorPosition (double motor_pos)
	setter for the motor side encoder reading More...

void	setJointVelocity (double link_vel)
	setter for the link side velocity More...

void	setMotorVelocity (double motor_vel)
	setter for the motor side velocity More...

void	setJointAcceleration (double link_acc)
	setter for the link side acceleration More...

void	setJointEffort (double effort)
	setter for the joint effort (generalized force) More...

void	setTemperature (double temperature)
	setter for the joint temperature More...

double	getJointPosition () const
	getter for the link side encoder reading More...

double	getMotorPosition () const
	getter for the motor side encoder reading More...

double	getJointVelocity () const
	getter for the link side velocity More...

double	getMotorVelocity () const
	getter for the motor side velocity More...

double	getJointAcceleration () const
	getter for the link side acceleration More...

double	getJointEffort () const
	getter for the joint effort (generalized force) More...

double	getTemperature () const
	getter for the joint temperature More...

void	setPositionReference (double pos_ref)
	setter for the motor position reference More...

void	setVelocityReference (double vel_ref)
	setter for the velocity reference More...

void	setEffortReference (double effort_ref)
	setter for the effort (generalized force) reference More...

void	setStiffness (double stiffness)
	set the joint stiffness More...

void	setDamping (double damping)
	set the joint damping More...

double	getPositionReference () const
	getter for the commanded motor position reference More...

double	getVelocityReference () const
	getter for the commanded velocity reference More...

double	getEffortReference () const
	getter for the commanded effort (generalized force) reference More...

double	getStiffness () const
	get the commanded joint stiffness More...

double	getDamping () const
	get the commanded joint damping More...

void	setControlMode (const ControlMode &control_mode)

void	getControlMode (ControlMode &control_mode) const

Protected Member Functions
void	setJointName (const std::string &joint_name)
	Setter for the joint name. More...

void	setJointId (int joint_id)
	Setter for the joint id. More...

template<typename... SyncFlags>
bool	syncFrom (const Joint &other, SyncFlags... flags)
	Synchronize the current Joint with another Joint object. More...

template<typename... SyncFlags>
bool	setReferenceFrom (const Joint &other, SyncFlags... flags)
	Set the joint references (TX) from other joint state (RX) More...

const XBot::Joint &	operator<< (const XBot::Joint &from)
	operator << to synchronize the current Joint with another Joint object More...

bool	isVirtualJoint () const
	return true if the joint is virtual More...

Friends
std::ostream &	operator<< (std::ostream &os, const XBot::Joint &j)
	ostream operator << for a Joint object More...

Detailed Description

Container for the Joint state and information.

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const Joint> XBot::Joint::ConstPtr

◆ Ptr

typedef std::shared_ptr<Joint> XBot::Joint::Ptr

Constructor & Destructor Documentation

◆ Joint() [1/2]

XBot::Joint::Joint ( )

Default constructor.

◆ Joint() [2/2]

XBot::Joint::Joint	(	const std::string &	joint_name,
		int	joint_id,
		urdf::JointConstSharedPtr	urdf_joint,
		const std::string &	chain_name
	)

Construct using the joint name, joint id, urdf joint and chain name.

Parameters

joint_name	the joint name
joint_id	the joint id
urdf_joint	shared pointer to urdf::Joint struct
joint_name	the parent chain name

Member Function Documentation

◆ checkEffortLimit()

bool XBot::Joint::checkEffortLimit ( double tau ) const

check that the param tau is below the joint effort limit

Parameters

tau	the effort to check

Returns: true if the param tau is below the joint effort limit

◆ checkJointLimits()

bool XBot::Joint::checkJointLimits ( double q ) const

check that the param q is inside the position limits

Parameters

q	the position to check

Returns: true if the param q is inside the joint position limits

◆ checkVelocityLimit()

bool XBot::Joint::checkVelocityLimit ( double qdot ) const

check that the param qdot is below the joint velocity limit

Parameters

qdot	the velocity to check

Returns: true if the param qdot is below the joint velocity limit

◆ enforceEffortLimit()

void XBot::Joint::enforceEffortLimit ( double & tau ) const

◆ enforceJointLimits()

void XBot::Joint::enforceJointLimits ( double & q ) const

◆ enforceVelocityLimit()

void XBot::Joint::enforceVelocityLimit ( double & qdot ) const

◆ getChainName()

const std::string & XBot::Joint::getChainName ( ) const

Getter for the parent chain name.

Returns: const std::string& parent chain name

◆ getControlMode()

void XBot::Joint::getControlMode ( XBot::ControlMode & control_mode ) const

◆ getDamping()

double XBot::Joint::getDamping ( ) const

get the commanded joint damping

Returns: the commanded joint damping

◆ getEffortLimit()

void XBot::Joint::getEffortLimit ( double & tau_max ) const

Getter for the joint effort limit in the urdf.

Parameters

tau_max joint effort limit

Returns: void

◆ getEffortReference()

double XBot::Joint::getEffortReference ( ) const

getter for the commanded effort (generalized force) reference

Returns: the commanded effort (generalized force) reference

◆ getJointAcceleration()

double XBot::Joint::getJointAcceleration ( ) const

getter for the link side acceleration

Returns: the link side acceleration

◆ getJointEffort()

double XBot::Joint::getJointEffort ( ) const

getter for the joint effort (generalized force)

Returns: double the joint effort (generalized force)

◆ getJointId()

int XBot::Joint::getJointId ( ) const

Getter for the joint id.

Returns: int joint id

◆ getJointLimits()

void XBot::Joint::getJointLimits	(	double &	qmin,
		double &	qmax
	)		const

Getter for the joint position limits in the urdf.

Parameters

qmin	lower position limit of the joint
qmax	upper position limit of the joint

Returns: void

◆ getJointName()

const std::string & XBot::Joint::getJointName ( ) const

Getter for the joint name.

Returns: const std::string& joint name

◆ getJointPosition()

double XBot::Joint::getJointPosition ( ) const

getter for the link side encoder reading

Returns: the link side encoder reading

◆ getJointVelocity()

double XBot::Joint::getJointVelocity ( ) const

getter for the link side velocity

Returns: the link side velocity

◆ getMotorPosition()

double XBot::Joint::getMotorPosition ( ) const

getter for the motor side encoder reading

Returns: the motor side encoder reading

◆ getMotorVelocity()

double XBot::Joint::getMotorVelocity ( ) const

getter for the motor side velocity

Returns: the motor side velocity

◆ getPositionReference()

double XBot::Joint::getPositionReference ( ) const

getter for the commanded motor position reference

Returns: the commanded motor position reference

◆ getStiffness()

double XBot::Joint::getStiffness ( ) const

get the commanded joint stiffness

Returns: the commanded joint stiffness

◆ getTemperature()

double XBot::Joint::getTemperature ( ) const

getter for the joint temperature

Returns: the joint temperature

◆ getUrdfJoint()

urdf::JointConstSharedPtr XBot::Joint::getUrdfJoint ( ) const

Getter for the urdf Joint object.

Returns: a (boost) shared pointer to a const urdf Joint object

◆ getVelocityLimit()

void XBot::Joint::getVelocityLimit ( double & qdot_max ) const

Getter for the joint velocity limit in the urdf.

Parameters

qdot_max joint velocity limit

Returns: void

◆ getVelocityReference()

double XBot::Joint::getVelocityReference ( ) const

getter for the commanded velocity reference

Returns: the commanded velocity reference

◆ isFixedControlledJoint()

bool XBot::Joint::isFixedControlledJoint ( ) const

return true if the joint is specified fixed in the model, but inside the controlled_joints group of the SRDF e.g.

Hands

Returns: true if the joint is fixed and controlled

◆ isVirtualJoint()

bool XBot::Joint::isVirtualJoint ( ) const

protected

return true if the joint is virtual

Returns: true if the joint is virtual. False otherwise

◆ operator<<()

const XBot::Joint & XBot::Joint::operator<< ( const XBot::Joint & from )

protected

operator << to synchronize the current Joint with another Joint object

Parameters

from	the Joint object from which we synchronize the current object

Returns: const XBot::Joint& the current synchornized object

◆ print()

void XBot::Joint::print ( ) const

Prints a pretty table about joint state.

Returns: void

◆ printTracking()

void XBot::Joint::printTracking ( ) const

Prints a pretty table about joint tracking error.

Returns: void

◆ setControlMode()

void XBot::Joint::setControlMode ( const ControlMode & control_mode )

◆ setDamping()

void XBot::Joint::setDamping ( double damping )

set the joint damping

Parameters

damping the joint damping to set

Returns: void

◆ setEffortReference()

void XBot::Joint::setEffortReference ( double effort_ref )

setter for the effort (generalized force) reference

Parameters

effort_ref the effort (generalized force) reference to set

Returns: void

◆ setJointAcceleration()

void XBot::Joint::setJointAcceleration ( double link_acc )

setter for the link side acceleration

Parameters

link_acc the link side velocity to set

Returns: void

◆ setJointEffort()

void XBot::Joint::setJointEffort ( double effort )

setter for the joint effort (generalized force)

Parameters

effort the joint effort (generalized force) to set

Returns: void

◆ setJointId()

void XBot::Joint::setJointId ( int joint_id )

protected

Setter for the joint id.

Parameters

joint_id the joint id to set

Returns: void

◆ setJointName()

void XBot::Joint::setJointName ( const std::string & joint_name )

protected

Setter for the joint name.

Parameters

joint_name the joint name to set

Returns: void

◆ setJointPosition()

void XBot::Joint::setJointPosition ( double link_pos )

Setter for the link side encoder reading.

Parameters

link_pos the link side encoder reading to set

Returns: void

◆ setJointVelocity()

void XBot::Joint::setJointVelocity ( double link_vel )

setter for the link side velocity

Parameters

link_vel the link side velocity to set

Returns: void

◆ setMotorPosition()

void XBot::Joint::setMotorPosition ( double motor_pos )

setter for the motor side encoder reading

Parameters

motor_pos the motor side encoder reading to set

Returns: void

◆ setMotorVelocity()

void XBot::Joint::setMotorVelocity ( double motor_vel )

setter for the motor side velocity

Parameters

motor_vel the motor side velocity to set

Returns: void

◆ setPositionReference()

void XBot::Joint::setPositionReference ( double pos_ref )

setter for the motor position reference

Parameters

pos_ref the motor position reference to set

Returns: void

◆ setReferenceFrom()

template<typename... SyncFlags>

bool XBot::Joint::setReferenceFrom	(	const Joint &	other,
		SyncFlags...	flags
	)

protected

Set the joint references (TX) from other joint state (RX)

Parameters

other The Joint object which references are read from

flags

Flags to specify what part of the state must be synchronized. By default (i.e. if this argument is omitted) the whole state is synchronized. Otherwise, an arbitrary number of flags can be specified in order to select a subset of the state. The flags must be of the enum type XBot::Sync, which can take the following values:

Returns: True if the synchronization is feasible ( i.e. the two Joint object have exactly the same names/ids). False * otherwise.

◆ setStiffness()

void XBot::Joint::setStiffness ( double stiffness )

set the joint stiffness

Parameters

stiffness the joint stiffness to set

Returns: void

◆ setTemperature()

void XBot::Joint::setTemperature ( double temperature )

setter for the joint temperature

Parameters

temperature the joint temperature

Returns: void

◆ setVelocityReference()

void XBot::Joint::setVelocityReference ( double vel_ref )

setter for the velocity reference

Parameters

vel_ref the velocity reference to set

Returns: void

◆ syncFrom()

template<typename... SyncFlags>

bool XBot::Joint::syncFrom	(	const Joint &	other,
		SyncFlags...	flags
	)

protected

Synchronize the current Joint with another Joint object.

Parameters

other The Joint object from which we synchronize the current object

flags

Flags to specify what part of the state must be synchronized. By default (i.e. if this argument is omitted) the whole state is synchronized. Otherwise, an arbitrary number of flags can be specified in order to select a subset of the state. The flags must be of the enum type XBot::Sync, which can take the following values:

Returns: True if the synchronization is feasible ( i.e. the two Joint object have exactly the same names/ids). False * otherwise

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const XBot::Joint &	j
	)

friend

ostream operator << for a Joint object

Parameters

os	ostream
j	the Joint object to print using ostream

Returns: std::ostream& result ostream

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

/home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotInterface/Joint.h
/home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/src/Joint.cpp

Public Types

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ Joint() [1/2]

◆ Joint() [2/2]

Member Function Documentation

◆ checkEffortLimit()

◆ checkJointLimits()

◆ checkVelocityLimit()

◆ enforceEffortLimit()

◆ enforceJointLimits()

◆ enforceVelocityLimit()

◆ getChainName()

◆ getControlMode()

◆ getDamping()

◆ getEffortLimit()

◆ getEffortReference()

◆ getJointAcceleration()

◆ getJointEffort()

◆ getJointId()

◆ getJointLimits()

◆ getJointName()

◆ getJointPosition()

◆ getJointVelocity()

◆ getMotorPosition()

◆ getMotorVelocity()

◆ getPositionReference()

◆ getStiffness()

◆ getTemperature()

◆ getUrdfJoint()

◆ getVelocityLimit()

◆ getVelocityReference()

◆ isFixedControlledJoint()

◆ isVirtualJoint()

◆ operator<<()

◆ print()

◆ printTracking()

◆ setControlMode()

◆ setDamping()

◆ setEffortReference()

◆ setJointAcceleration()

◆ setJointEffort()

◆ setJointId()

◆ setJointName()

◆ setJointPosition()

◆ setJointVelocity()

◆ setMotorPosition()

◆ setMotorVelocity()

◆ setPositionReference()

◆ setReferenceFrom()

◆ setStiffness()

◆ setTemperature()

◆ setVelocityReference()

◆ syncFrom()

Friends And Related Function Documentation

◆ operator<<