60 const double& inertia=0,
const double& damping=0,
const double& stiffness=0);
81 Twist twist(
const double& qdot,
int dof=0)
const;
represents a frame transformation in 3D space (rotation + translation)
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Joint(const JointType &type=None, const double &scale=1, const double &offset=0, const double &inertia=0, const double &damping=0, const double &stiffness=0)
Twist twist(const double &qdot, int dof=0) const
const std::string getTypeName() const
Joint & operator=(const Joint &arg)
unsigned int getNDof() const
Frame pose(const double *q) const
const JointType & getType() const
represents both translational and rotational velocities.