Abstract class representing any joints within a Robot. More...

#include <Joint.h>

Inheritance diagram for Joint:

Collaboration diagram for Joint:

Public Member Functions
	Joint (int jointID, double jointMin, double jointMax)
	Construct a new Joint object. More...

	Joint (int jointID, double jointMin, double jointMax, double q0)
	Construct a new Joint object with initial value for the joint. More...

	~Joint ()
	Destroy the Joint object. More...

int	getId ()
	Get the Id object. More...

double	getQ ()
	Returns the internal value of the joint (e.g. Angle, length, depending on joint type) More...

double	getQd ()
	Returns the internal value of the joint (e.g. del Angle, del length, depending on joint type) More...

void	getStatus ()
	prints out the status of the joints current position in degrees More...

virtual bool	updateValue ()=0
	Updates the value of the joint. This will read the value from hardware, and update the software's current representation of the value. More...

virtual bool	initNetwork ()=0
	Pure virtual function for initialising the underlying CANopen Network to send and recieve PDO messages for this joint. More...

Protected Attributes
const int	id

double	q

double	qd

const double	qMin

const double	qMax

Detailed Description

Abstract class representing any joints within a Robot.

Definition at line 23 of file Joint.h.

Constructor & Destructor Documentation

Joint::Joint	(	int	jointID,
		double	jointMin,
		double	jointMax
	)

Construct a new Joint object.

Parameters

jointID	The joint ID for this object
jointMin	The minimum allowable value for this joint (below this will cause an error)
jointMax	The maximum allowable value for this joint (above this will cause an error)

The Joint class is a abstract class which represents a joint in a Robot objec. This class can be used to represent all types of joints, including actuated, non-actuated, revolute, prismatic, etc.

Version 0.1 Date: 07/04/2020

Definition at line 16 of file Joint.cpp.

Joint::Joint	(	int	jointID,
		double	jointMin,
		double	jointMax,
		double	q0
	)

Construct a new Joint object with initial value for the joint.

Parameters

jointID	The joint ID for this object
jointMin	The minimum allowable value for this joint (below this will cause an error)
jointMax	The maximum allowable value for this joint (above this will cause an error)
q0	Initial value of this joint

Definition at line 20 of file Joint.cpp.

Joint::~Joint ( )

Destroy the Joint object.

Definition at line 23 of file Joint.cpp.

Member Function Documentation

int Joint::getId ( )

Get the Id object.

Returns: int The ID used for the joint.

Definition at line 26 of file Joint.cpp.

double Joint::getQ ( )

Returns the internal value of the joint (e.g. Angle, length, depending on joint type)

NOTES:

This returns only a single double value. Implementations of this joint may choose to include other methods to return other states of the joint.
This does not necessarily reflect the actual value of the joint, it will only return the last value called by the updateValue() function. This allows for the update and use of the value to be updated independently (and potentially at different rates) such that the same value can be called multiple times in parallel.

Returns: double The current internal representation of the value of the joint

Definition at line 30 of file Joint.cpp.

double Joint::getQd ( )

Returns the internal value of the joint (e.g. del Angle, del length, depending on joint type)

NOTES:

This returns only a single double value. Implementations of this joint may choose to include other methods to return other states of the joint.
This does not necessarily reflect the actual value of the joint, it will only return the last value called by the updateValue() function. This allows for the update and use of the value to be updated independently (and potentially at different rates) such that the same value can be called multiple times in parallel.

Returns: double The current internal representation of the value of the joint

void Joint::getStatus ( )

prints out the status of the joints current position in degrees

Definition at line 34 of file Joint.cpp.

virtual bool Joint::initNetwork ( )

pure virtual

Pure virtual function for initialising the underlying CANopen Network to send and recieve PDO messages for this joint.

Returns: true if successful; false if unsuccessful

Implemented in DummyActJoint.

virtual bool Joint::updateValue ( )

pure virtual

Updates the value of the joint. This will read the value from hardware, and update the software's current representation of the value.

Returns: true if successful; false if unsuccessful

Implemented in DummyActJoint.

Member Data Documentation

const int Joint::id

protected

An identifier for this joint. Note that this identifier is designed to be unique, but this is not managed by the joint class.

Definition at line 29 of file Joint.h.

double Joint::q

protected

The current state of the joint (i.e. the value), to be returned in SI units.

Definition at line 33 of file Joint.h.

double Joint::qd

protected

The current state of the change in the joint position(i.e. the value), to be returned in SI units.

Definition at line 37 of file Joint.h.

const double Joint::qMax

protected

Definition at line 42 of file Joint.h.

const double Joint::qMin

protected

The allowable limits of the joint. This should represent the theoretical limits of the joint. Should these be exceeded, an error should be thrown.

Definition at line 42 of file Joint.h.

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

src/libs/robot/joint/Joint.h
src/libs/robot/joint/Joint.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation