A coordinate frame that is rigidly attached to the origin a rigid joint and the child link of the joint. In addition, this class stores the type, rotation axis, child link, and limit of the rigid joints. More...

Inheritance diagram for RigidJoint:

[legend]

Public Member Functions
	RigidJoint (varargin)
	The class constructor function. More...

function obj =	setAxis (rowvec axis)
	set the joint rotation axis vector in the joint coordinate More...

function obj =	setType (char type)
	Sets the joint type. More...

function obj =	setParent (char parent)
	set the parent link frame More...

function obj =	setChild (char child)
	set the child link frame More...

function obj =	setLimit (varargin)
	set the physical limits of the rigid joints More...

function obj =	setActuator (varargin)
	set the physical limits of the rigid joints More...

function obj =	setChainIndices (rowvec indices)
	Set the kinematic chain indices of the parent reference frames. More...

function xi =	getTwist ()
	returns the twist vector of the rigid joint More...

function obj =	computeTwist ()
	computes the twist from the base frame More...

function obj =	setTwistPairs (RigitJoint dofs,SymVariable q)
	set the twist paris of all precedent joints More...

Public Member Functions inherited from CoordinateFrame
	CoordinateFrame (varargin)
	The class constructor function. More...

function obj =	ToContactFrame (char type)
	convert a coordinate frame into a contact frame More...

function obj =	setReference (CoordinateFrame ref)
	set the reference frame More...

function obj =	setOffset (rowvec offset)
	set the offset of the origin of the frame from the reference frame origin (in the reference frame) More...

function obj =	setRotationMatrix (rowvec\|matrix r)
	set the rotation matrix (R) of the frame w.r.t to the reference frame More...

function obj =	computeHomogeneousTransform ()
	computes the homogeneous transformation matrix from the world coordinates More...

function pos =	computeCartesianPosition (rowvec p)
	computes the cartesian position of a point p in the body (current) coordinate frame More...

function rpy =	computeEulerAngle ()
	computes the Euler angles the body (current) coordinate frame in the world frame (base coordinate) More...

function g =	computeForwardKinematics ()
	computes the forward kinematics transformation matrix of the coordinate frame More...

function Jac =	computeBodyJacobian (integer nDof)
	computes the body Jacobian matrix of the coordinate frame More...

function Jac =	computeSpatialJacobian (integer nDof)
	computes the spatial Jacobian matrix of the coordinate frame More...

function c_str =	getTwists (matrix p)
	Returns the symbolic representation of the body jacobians of coordinate frames. More...

Public Attributes
char	Type
	The type of the rigid joint. More...

rowvec	Axis
	The rotation axis vector of the rigid joint. More...

char	Child
	The name of the child link. More...

char	Parent
	The name of the parent link. More...

struct	Limit
	A structure data stores the physical limits of the rigid joints. More...

struct	Actuator
	A structure contains information about the actuator for the joint. More...

rowvec	ChainIndices
	The indices of kinematic chains from the base to the current joint. More...

rowvec	Twist
	The twist from the base frame. More...

SymExpression	TwistPairs
	The twist pairs of all precedent joints (coordinate frame) More...

Public Attributes inherited from CoordinateFrame
char	Name
	The name of the coordinate frame. More...

CoordinateFrame	Reference
	The parent reference coordinate frame. More...

rowvec	Offset
	The offset of the origin of the frame from the origin of the reference frame. More...

matrix	R
	The rotation matrix of the frame w.r.t. the reference frame. More...

matrix	gst0
	The homogeneous transformation from the base coordinate. More...

Public Attributes inherited from handle
	addlistener
	Creates a listener for the specified event and assigns a callback function to execute when the event occurs. More...

	notify
	Broadcast a notice that a specific event is occurring on a specified handle object or array of handle objects. More...

	delete
	Handle object destructor method that is called when the object's lifecycle ends. More...

	disp
	Handle object disp method which is called by the display method. See the MATLAB disp function. More...

	display
	Handle object display method called when MATLAB software interprets an expression returning a handle object that is not terminated by a semicolon. See the MATLAB display function. More...

	findobj
	Finds objects matching the specified conditions from the input array of handle objects. More...

	findprop
	Returns a meta.property objects associated with the specified property name. More...

	fields
	Returns a cell array of string containing the names of public properties. More...

	fieldnames
	Returns a cell array of string containing the names of public properties. See the MATLAB fieldnames function. More...

	isvalid
	Returns a logical array in which elements are true if the corresponding elements in the input array are valid handles. This method is Sealed so you cannot override it in a handle subclass. More...

	eq
	Relational functions example. See details for more information. More...

	transpose
	Transposes the elements of the handle object array. More...

	permute
	Rearranges the dimensions of the handle object array. See the MATLAB permute function. More...

	reshape
	hanges the dimensions of the handle object array to the specified dimensions. See the MATLAB reshape function. More...

	sort
	ort the handle objects in any array in ascending or descending order. More...

Additional Inherited Members
Static Public Member Functions inherited from CoordinateFrame
static function gst =	RPToHomogeneous (R, p)
	Convert a rotation + translation to a homogeneous matrix. More...

static function adj =	RigidAdjoint (g)
	rigid adjoint matrix from the homonegeous matrix More...

static function R =	RigidOrientation (g)
	extract the rigid orientation from the homogeneous transformation matrix More...

static function p =	RigidPosition (g)
	extract the rigid position from the homogeneous transformation matrix More...

static function s =	AxisToSkew (p)
	converts the axis vector to a skew matrix More...

Detailed Description

A coordinate frame that is rigidly attached to the origin a rigid joint and the child link of the joint. In addition, this class stores the type, rotation axis, child link, and limit of the rigid joints.

Redistribution and use in source and binary forms, with or without modification, are permitted only in compliance with the BSD 3-Clause license, see http://www.opensource.org/licenses/bsd-license.php

Constructor & Destructor Documentation

◆ RigidJoint()

RigidJoint.RigidJoint ( varargin )

inline

The class constructor function.

Parameters

varargin

variable nama-value pair input arguments, in detail:

RigidJoint ( Name, Reference, Offset, R, Axis, Type, Child, Limit )

Required Parameters for varargin:

Name the name of the frame
Reference the reference frame
Offset the offset of the origin
R the rotation matrix or the Euler angles
Axis the rotation axis vector
Type the type of the joints
Child the child link frame
Limit the joint physical limits

Required fields of limit:

effort — the maximum actuator effort
lower — the minimum allowable displacement
upper — the maximum allowable displacement
velocity — the maximum allowable velocity

Member Function Documentation

◆ computeTwist()

function obj = RigidJoint.computeTwist ( )

computes the twist from the base frame

Generated fields of obj:

◆ getTwist()

function xi = RigidJoint.getTwist ( )

returns the twist vector of the rigid joint

◆ setActuator()

function obj = RigidJoint.setActuator ( varargin )

set the physical limits of the rigid joints

Parameters

varargin

varaiable input arguments. In detail:

setActuator ( [ "Inertia", Inertia_value ] [, "Ratio", Ratio_value ] )

Named Parameters for varargin:

Inertia the inertia of the actuator (before gear box) ( Default: [] )
Ratio the deceleration ratio of the gear box ( Default: [] )

Generated fields of obj:

◆ setAxis()

function obj = RigidJoint.setAxis ( rowvec axis )

set the joint rotation axis vector in the joint coordinate

Parameters

axis	the axis vector

Generated fields of obj:

◆ setChainIndices()

function obj = RigidJoint.setChainIndices ( rowvec indices )

Set the kinematic chain indices of the parent reference frames.

Parameters

indices the index vector

Generated fields of obj:

◆ setChild()

function obj = RigidJoint.setChild ( char child )

set the child link frame

Parameters

child the child link frame object

Generated fields of obj:

◆ setLimit()

function obj = RigidJoint.setLimit ( varargin )

set the physical limits of the rigid joints

Parameters

varargin

varaiable input arguments. In detail:

setLimit ( [ "effort", effort_value ] [, "lower", lower_value ]

[, "upper", upper_value ] [, "velocity", velocity_value ] )

Named Parameters for varargin:

effort the actuation effort ( Default: [] )
lower the lower bound of the joint displacement ( Default: [] )
upper the upper bound of the joint displacement ( Default: [] )
velocity the absolute bound of the joint velocity ( Default: [] )

Generated fields of obj:

◆ setParent()

function obj = RigidJoint.setParent ( char parent )

set the parent link frame

Parameters

parent the parent link frame object

Generated fields of obj:

◆ setTwistPairs()

function obj = RigidJoint.setTwistPairs	(	RigitJoint	dofs,
		SymVariable	q
	)

set the twist paris of all precedent joints

Parameters

dofs	the array of rigid joints
q	the symbolic variabls of rigid joints

Generated fields of obj:

◆ setType()

function obj = RigidJoint.setType ( char type )

Sets the joint type.

Parameters

type	the joint type

Generated fields of obj:

Member Data Documentation

◆ Actuator

RigidJoint.Actuator

A structure contains information about the actuator for the joint.

An empty property indicates the joint is not actuated.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Axis

RigidJoint.Axis

The rotation axis vector of the rigid joint.

Note: it must be a 3x1 vector.; This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ ChainIndices

RigidJoint.ChainIndices

The indices of kinematic chains from the base to the current joint.

Note: This property has the MATLAB attribute Hidden set to true.; This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Child

RigidJoint.Child

The name of the child link.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Limit

RigidJoint.Limit

A structure data stores the physical limits of the rigid joints.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Parent

RigidJoint.Parent

The name of the parent link.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Twist

RigidJoint.Twist

The twist from the base frame.

Note: This property has the MATLAB attribute Hidden set to true.; This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ TwistPairs

RigidJoint.TwistPairs

The twist pairs of all precedent joints (coordinate frame)

Note: This property has the MATLAB attribute Hidden set to true.; This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Type

RigidJoint.Type

The type of the rigid joint.

Note: valid joint types include: revolute, prismatic, continuous, fixed.; This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

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

/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/RigidJoint.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/computeTwist.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/getTwist.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/setActuator.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/setAxis.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/setChainIndices.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/setChild.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/setLimit.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/setParent.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/setTwistPairs.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidJoint/setType.m

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RigidJoint()

Member Function Documentation

◆ computeTwist()

◆ getTwist()

◆ setActuator()

◆ setAxis()

◆ setChainIndices()

◆ setChild()

◆ setLimit()

◆ setParent()

◆ setTwistPairs()

◆ setType()

Member Data Documentation

◆ Actuator

◆ Axis

◆ ChainIndices

◆ Child

◆ Limit

◆ Parent

◆ Twist

◆ TwistPairs

◆ Type