Joint defines an articulation of the robot. More...

Public Member Functions
	Joint ()
	creates an empty Joint, you should not use this.
	~Joint ()
	destructor.
const Frame *	frame () const
	returns the Frame of the Joint.
const std::string &	name () const
	returns the name of the Joint.
const Link *	parentLink () const
	returns the parent link of the Joint. Joints always have a parent link.
const Link *	childLink () const
	returns the child link of the Joint. Joints always have a child link.
Public Attributes
class JointImpl *	a_impl
	Private implementation.

Detailed Description

Joint defines an articulation of the robot.

Definition at line 285 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::Joint::Joint ( )

creates an empty Joint, you should not use this.

const Link* Sim::Joint::childLink ( ) const

returns the child link of the Joint. Joints always have a child link.

Remarks:: the Joint object is actually the articulation between its parent link and children link.

const Frame* Sim::Joint::frame ( ) const

returns the Frame of the Joint.

Remarks:: The Frame of the Joint is defined so that the joint rotates around its Z-axis.

const Link* Sim::Joint::parentLink ( ) const

returns the parent link of the Joint. Joints always have a parent link.

Remarks:: the Joint object is actually the articulation between its parent link and children link.

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