Connection Class Reference

#include <Connection.h>

Public Types
Local Types
enum class	JointType { Revolute , Spherical , NonActuated }
	The supported connection types. More...

Public Member Functions
Construction
	Connection (MultiBody *const _owner)
	Connection (MultiBody *const _owner, XMLNode &_node)
	Connection (const Connection &)
	Copy. More...
	Connection (Connection &&)
	Move. More...
Assignment
Connection &	operator= (const Connection &)
	Copy. More...
Connection &	operator= (Connection &&)
	Move. More...
I/O
void	Read (istream &_is, CountingStreamBuffer &_cbs)
void	SetBodies (MultiBody *const _owner, const size_t _parentIndex, const size_t _childIndex)
void	SetBodies (MultiBody *const _owner=nullptr)
void	SetAdjacentBodies (MultiBody *const _owner, const size_t _firstIndex, const size_t _secondIndex)
Joint Information
JointType	GetConnectionType () const noexcept
	Get the connection type. More...
bool	IsRevolute () const noexcept
	Check if this is a revolute joint. More...
bool	IsSpherical () const noexcept
	Check if this is a spherical joint. More...
bool	IsNonActuated () const noexcept
	Check if this is a non-actuated joint. More...
const Range< double > &	GetJointRange (const size_t _i) const noexcept
void	SetJointRange (const size_t _i, const Range< double > &_r) noexcept
Body information
const Body *	GetPreviousBody () const noexcept
	Get a pointer to the child Body. More...
Body *	GetPreviousBody () noexcept
size_t	GetPreviousBodyIndex () const noexcept
	Get the index of the parent Body within the parent multibody. More...
const Body *	GetNextBody () const noexcept
	Get a pointer to the child Body. More...
Body *	GetNextBody () noexcept
size_t	GetNextBodyIndex () const noexcept
	Get the index of the child Body within the parent multibody. More...
Transformation information
DHParameters &	GetDHParameters () noexcept
const DHParameters &	GetDHParameters () const noexcept
Transformation &	GetTransformationToBody2 () noexcept
const Transformation &	GetTransformationToBody2 () const noexcept
Transformation &	GetTransformationToDHFrame () noexcept
const Transformation &	GetTransformationToDHFrame () const noexcept

Detailed Description

Connection information between two Bodys in a MultiBody.

This class stores information about connection from one body to another one. The information stored in this class includes:

• Connection type
• Two Body instances
• Transform from frame of body1 to DH-Frame
• DHParameter
• Transform from DH-Frame to frame of body2

@TODO Need to generalize the connection relationship to handle closed chains and multiple backward connections.

Member Enumeration Documentation

JointType

enum Connection::JointType

strong

The supported connection types.

Enumerator
Revolute	1 DOF
Spherical	2 DOF
NonActuated	0 DOF

Constructor & Destructor Documentation

Connection() [1/4]

Connection::Connection

(

MultiBody *const

_owner

)

Parameters

_owner

MultiBody who owns this Connection

Connection() [2/4]

Connection::Connection	(	MultiBody *const	_owner,
		XMLNode &	_node
	)

Parse connection info from an XML node.

Parameters

_owner	MultiBody who owns this Connection
_node	The input XML node to read.

Connection() [3/4]

Connection::Connection

(

const Connection &

_other

)

Copy.

Copying a connection does not copy the multibody and body pointers, as this would not be a usable object. Call SetBodies to attach a newly copied connection to another multibody.

Connection() [4/4]

Connection::Connection ( Connection &&  )

default

Move.

Member Function Documentation

GetConnectionType()

Connection::JointType Connection::GetConnectionType ( ) const

noexcept

Get the connection type.

GetDHParameters() [1/2]

const DHParameters & Connection::GetDHParameters ( ) const

noexcept

GetDHParameters() [2/2]

DHParameters & Connection::GetDHParameters ( )

noexcept

Returns

DH frame description

GetJointRange()

const Range< double > & Connection::GetJointRange ( const size_t  _i ) const

noexcept

Get a joint range.

Parameters

_i	The range to get (0 normally, 1 for second spherical range).

Returns

The corresponding range object.

GetNextBody() [1/2]

const Body * Connection::GetNextBody ( ) const

noexcept

Get a pointer to the child Body.

GetNextBody() [2/2]

Body * Connection::GetNextBody ( )

noexcept

GetNextBodyIndex()

size_t Connection::GetNextBodyIndex ( ) const

noexcept

Get the index of the child Body within the parent multibody.

GetPreviousBody() [1/2]

const Body * Connection::GetPreviousBody ( ) const

noexcept

Get a pointer to the child Body.

GetPreviousBody() [2/2]

Body * Connection::GetPreviousBody ( )

noexcept

GetPreviousBodyIndex()

size_t Connection::GetPreviousBodyIndex ( ) const

noexcept

Get the index of the parent Body within the parent multibody.

GetTransformationToBody2() [1/2]

const Transformation & Connection::GetTransformationToBody2 ( ) const

noexcept

GetTransformationToBody2() [2/2]

Transformation & Connection::GetTransformationToBody2 ( )

noexcept

Returns

Transformation to second body

GetTransformationToDHFrame() [1/2]

const Transformation & Connection::GetTransformationToDHFrame ( ) const

noexcept

GetTransformationToDHFrame() [2/2]

Transformation & Connection::GetTransformationToDHFrame ( )

noexcept

Returns

Transformation to DH frame

IsNonActuated()

bool Connection::IsNonActuated ( ) const

noexcept

Check if this is a non-actuated joint.

IsRevolute()

bool Connection::IsRevolute ( ) const

noexcept

Check if this is a revolute joint.

IsSpherical()

bool Connection::IsSpherical ( ) const

noexcept

Check if this is a spherical joint.

operator=() [1/2]

Connection & Connection::operator= ( Connection &&  )

default

Move.

operator=() [2/2]

Connection & Connection::operator=

(

const Connection &

_other

)

Copy.

Read()

void Connection::Read	(	istream &	_is,
		CountingStreamBuffer &	_cbs
	)

Parse connection info from an old-style env/robot file.

Parameters

_is	The input stream to read.
_cbs	The input counting stream buffer.

SetAdjacentBodies()

void Connection::SetAdjacentBodies	(	MultiBody *const	_owner,
		const size_t	_firstIndex,
		const size_t	_secondIndex
	)

Set the free bodies which are adjacent without an explicit connection.

Parameters

_owner	The owning multibody.
_parentIndex	The parent body index.
_childIndex	The child body index.

SetBodies() [1/2]

void Connection::SetBodies	(	MultiBody *const	_owner,
		const size_t	_parentIndex,
		const size_t	_childIndex
	)

Set the free bodies which are joined by this connection and call their link functions.

Parameters

_owner	The owning multibody, or null to use the current.
_parentIndex	The parent body index.
_childIndex	The child body index.

SetBodies() [2/2]

void Connection::SetBodies

(

MultiBody *const

_owner = nullptr

)

This overload assumes that the parent/child indexes have already been set. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

SetJointRange()

void Connection::SetJointRange ( const size_t  _i, const Range< double > &  _r  )

noexcept

Set a joint range. Note this will NOT re-initialize the owning robot's configuration space.

Parameters

_i	The range to set (0 normally, 1 for second spherical range).
_r	The new joint range.

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Bodies/Connection.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Bodies/Connection.cpp