alrobotmodel  2.1.4.13
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Sim::Joint Class Reference

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

#include <alrobotmodel.h>

Public Member Functions

 Joint ()
 creates an empty Joint, you should not use this. More...
 
 ~Joint ()
 destructor.
 
const Frameframe () const
 returns the Frame of the Joint. More...
 
const std::string & name () const
 returns the name of the Joint.
 
const LinkparentLink () const
 returns the parent link of the Joint. Joints always have a parent link. More...
 
const LinkchildLink () const
 returns the child link of the Joint. Joints always have a child link. More...
 

Public Attributes

class JointImpl * a_impl
 Private implementation.
 

Detailed Description

Joint defines an articulation of the robot.

Definition at line 431 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::Joint::Joint ( )

creates an empty Joint, you should not use this.

Warning
The Joint being empty, every access to this object will throw.

Member Function Documentation

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: