Joint Class Reference

#include <Joint.hh>

List of all members.

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Detailed Description

CDL joint.

This class captures a CDL joint, which also corresponds to a single one degree of freedom (1DOF) Arachi DE joint. This class is defined to facilitate internal CDL bookkeeping associated with individual joints as well as present a much simpler interface than the classes provided by DE

Public Member Functions
	Joint (const char *name, DeJointDOF1 *joint)
const char *	getName (void)
DeJointDOF1 *	getDeJoint (void)
const double	position (void)
const double	velocity (void)
const double	torque (void)
void	setTorque (DeFloat cmd)

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Constructor & Destructor Documentation

Joint::Joint (  const char *  name, DeJointDOF1 *  joint )  [inline]

This constructor creates a CDL joint with the specified name, corresponding to the specified 1DOF DE joint object.

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Member Function Documentation

DeJointDOF1* Joint::getDeJoint (  void   )  [inline]

This method returns the 1DOF DE joint object associated with this CDL joint.

const char* Joint::getName (  void   )  [inline]

This method returns the name of the CDL joint.

const double Joint::position (  void   )  [inline]

This method returns the "current" position of the joint. The exact meaning of "current" may depend on the particulars of the Arachi DE engine.

void Joint::setTorque (  DeFloat  cmd  )  [inline]

This method can be used to set the torque command to the associated DE joint object

const double Joint::torque (  void   )  [inline]

This method returns the "current" torque acting on the joint. The exact meaning of "current" may depend on the particulars of the Arachi DE engine.

const double Joint::velocity (  void   )  [inline]

This method returns the "current" velocity of the joint. The exact meaning of "current" may depend on the particulars of the Arachi DE engine.

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SimLib Reference Documentation