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 Frame *	frame () const
	returns the Frame of the Joint. More...
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. More...
const Link *	childLink () 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.

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

• /home/opennao/work/master/simulation/alrobotmodel/libalrobotmodel/alrobotmodel/alrobotmodel.h