#include <Joint.hh>

Public Member Functions
	Joint ()
	Default constructor. More...

	Joint (const Joint &_joint)
	Copy constructor. More...

	Joint (Joint &&_joint) noexcept
	Move constructor. More...

	~Joint ()
	Destructor. More...

const JointAxis *	Axis (const unsigned int _index=0) const
	Get a joint axis. More...

const std::string &	ChildLinkName () const
	Get the name of this joint's child link. More...

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...

Errors	Load (ElementPtr _sdf)
	Load the joint based on a element pointer. More...

const std::string &	Name () const
	Get the name of the joint. More...

Joint &	operator= (Joint &&_joint)
	Move assignment operator. More...

Joint &	operator= (const Joint &_joint)
	Copy assignment operator. More...

const std::string &	ParentLinkName () const
	Get the name of this joint's parent link. More...

const ignition::math::Pose3d &	Pose () const
	Get the pose of the joint. More...

const std::string &	PoseFrame () const
	Get the name of the coordinate frame in which this joint's pose is expressed. More...

void	SetAxis (const unsigned int _index, const JointAxis &_axis)
	Set a joint axis. More...

void	SetChildLinkName (const std::string &_name)
	Set the name of the child link. More...

void	SetName (const std::string &_name)
	Set the name of the joint. More...

void	SetParentLinkName (const std::string &_name)
	Set the name of the parent link. More...

void	SetPose (const ignition::math::Pose3d &_pose)
	Set the pose of the joint. More...

void	SetPoseFrame (const std::string &_frame)
	Set the name of the coordinate frame in which this joint's pose is expressed. More...

void	SetThreadPitch (double _threadPitch)
	Set the thread pitch (only valid for screw joints) More...

void	SetType (const JointType _jointType)
	Set the joint type. More...

double	ThreadPitch () const
	Get the thread pitch (only valid for screw joints) More...

JointType	Type () const
	Get the joint type. More...

Constructor & Destructor Documentation

◆ Joint() [1/3]

sdf::v8::Joint::Joint ( )

Default constructor.

◆ Joint() [2/3]

sdf::v8::Joint::Joint ( const Joint & _joint )

Copy constructor.

Parameters

[in] _joint Joint to copy.

◆ Joint() [3/3]

sdf::v8::Joint::Joint ( Joint && _joint )

noexcept

Move constructor.

Parameters

[in] _joint Joint to move.

◆ ~Joint()

sdf::v8::Joint::~Joint ( )

Destructor.

Member Function Documentation

◆ Axis()

const JointAxis* sdf::v8::Joint::Axis ( const unsigned int _index = 0 ) const

Get a joint axis.

Parameters

[in] _index This value specifies which axis to get. A value of zero corresponds to the first axis, which is the <axis> SDF element. Any other value will return the second axis, which is the <axis2> SDF element.

Returns: A JointAxis for either the first or second joint axis. A return value of nullptr indicates that the axis is not specified.

◆ ChildLinkName()

const std::string& sdf::v8::Joint::ChildLinkName ( ) const

Get the name of this joint's child link.

Returns: The name of the child link.

◆ Element()

sdf::ElementPtr sdf::v8::Joint::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ Load()

Errors sdf::v8::Joint::Load ( ElementPtr _sdf )

Load the joint based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in] _sdf The SDF Element pointer

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Name()

const std::string& sdf::v8::Joint::Name ( ) const

Get the name of the joint.

The name of the joint must be unique within the scope of a Model.

Returns: Name of the joint.

◆ operator=() [1/2]

Joint& sdf::v8::Joint::operator= ( Joint && _joint )

Move assignment operator.

Parameters

[in] _joint Joint to move.

Returns: Reference to this.

◆ operator=() [2/2]

Joint& sdf::v8::Joint::operator= ( const Joint & _joint )

Copy assignment operator.

Parameters

[in] _joint Joint to copy.

Returns: Reference to this.

◆ ParentLinkName()

const std::string& sdf::v8::Joint::ParentLinkName ( ) const

Get the name of this joint's parent link.

Returns: The name of the parent link.

◆ Pose()

const ignition::math::Pose3d& sdf::v8::Joint::Pose ( ) const

Get the pose of the joint.

This is the pose of the joint as specified in SDF (<joint> <pose> ... </pose></joint>). Transformations have not been applied to the return value.

Returns: The pose of the joint. This is the raw pose value, as set in the SDF file.

◆ PoseFrame()

const std::string& sdf::v8::Joint::PoseFrame ( ) const

Get the name of the coordinate frame in which this joint's pose is expressed.

A empty value indicates that the frame is the child link frame.

Returns: The name of the pose frame.

◆ SetAxis()

void sdf::v8::Joint::SetAxis	(	const unsigned int	_index,
		const JointAxis &	_axis
	)

Set a joint axis.

Parameters

[in]	_index	This value specifies which axis to set. A value of zero corresponds to the first axis, which is the <axis> SDF element. Any other value will set the second axis, which is the <axis2> SDF element.
[in]	_axis	The JointAxis of the joint

◆ SetChildLinkName()

void sdf::v8::Joint::SetChildLinkName ( const std::string & _name )

Set the name of the child link.

Parameters

[in] _name Name of the child link.

◆ SetName()

void sdf::v8::Joint::SetName ( const std::string & _name )

Set the name of the joint.

The name of the joint must be unique within the scope of a Model.

Parameters

[in] _name Name of the joint.

◆ SetParentLinkName()

void sdf::v8::Joint::SetParentLinkName ( const std::string & _name )

Set the name of the parent link.

Parameters

[in] _name Name of the parent link.

◆ SetPose()

void sdf::v8::Joint::SetPose ( const ignition::math::Pose3d & _pose )

Set the pose of the joint.

See also: const ignition::math::Pose3d &Pose() const;

Parameters

[in] _pose The pose of the joint.

◆ SetPoseFrame()

void sdf::v8::Joint::SetPoseFrame ( const std::string & _frame )

Set the name of the coordinate frame in which this joint's pose is expressed.

A empty value indicates that the frame is the child link frame.

Parameters

[in] _frame The name of the pose frame.

◆ SetThreadPitch()

void sdf::v8::Joint::SetThreadPitch ( double _threadPitch )

Set the thread pitch (only valid for screw joints)

Parameters

[in] _threadPitch The thread pitch of the joint

◆ SetType()

void sdf::v8::Joint::SetType ( const JointType _jointType )

Set the joint type.

Parameters

[in] _jointType The type of joint.

◆ ThreadPitch()

double sdf::v8::Joint::ThreadPitch ( ) const

Get the thread pitch (only valid for screw joints)

Returns: The thread pitch

◆ Type()

JointType sdf::v8::Joint::Type ( ) const

Get the joint type.

Returns: Type of joint.

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

Joint.hh

Public Member Functions

Constructor & Destructor Documentation

◆ Joint() [1/3]

◆ Joint() [2/3]

◆ Joint() [3/3]

◆ ~Joint()

Member Function Documentation

◆ Axis()

◆ ChildLinkName()

◆ Element()

◆ Load()

◆ Name()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ParentLinkName()

◆ Pose()

◆ PoseFrame()

◆ SetAxis()

◆ SetChildLinkName()

◆ SetName()

◆ SetParentLinkName()

◆ SetPose()

◆ SetPoseFrame()

◆ SetThreadPitch()

◆ SetType()

◆ ThreadPitch()

◆ Type()