关节（Joint）类，表示机器人连杆间的旋转关节。 Joint class representing a rotational joint between robot links. More...

Collaboration diagram for LibXR::Kinematic::Joint< Scalar >:

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Data Structures
struct	Param
	关节参数结构体。 Structure containing joint parameters. More...

struct	Runtime
	关节运行时状态结构体。 Structure containing runtime state of the joint. More...

Public Types
typedef struct LibXR::Kinematic::Joint::Param	Param
	关节参数结构体。 Structure containing joint parameters.

typedef struct LibXR::Kinematic::Joint::Runtime	Runtime
	关节运行时状态结构体。 Structure containing runtime state of the joint.

Public Member Functions
	Joint (Axis< Scalar > axis, Object< Scalar > parent, Transform< Scalar > &parent2this, Object< Scalar > child, Transform< Scalar > &this2child)
	构造 `Joint` 关节对象。 Constructs a `Joint` object.

void	SetState (Scalar state)
	设置关节当前状态角度。 Sets the current state angle of the joint.

void	SetTarget (Scalar target)
	设置关节的目标角度。 Sets the target angle of the joint.

void	SetBackwardMult (Scalar mult)
	设置逆向运动学计算的步长系数。 Sets the step size coefficient for inverse kinematics calculations.

Data Fields
Runtime	runtime_
	关节的运行时数据。 Runtime data of the joint.

Object< Scalar > *	parent = nullptr
	指向父物体的指针。 Pointer to the parent object.

Object< Scalar > *	child = nullptr
	指向子物体的指针。 Pointer to the child object.

Param	param_
	关节的参数配置。 Parameters of the joint.

Detailed Description

template<typename Scalar>
class LibXR::Kinematic::Joint< Scalar >

关节（Joint）类，表示机器人连杆间的旋转关节。 Joint class representing a rotational joint between robot links.

该类包含关节的运动学信息，如旋转轴、前向/逆向运动学参数，并提供状态与目标设定方法。 This class contains kinematic information of the joint, such as rotation axis, forward/inverse kinematics parameters, and provides methods to set states and targets.

Template Parameters

Scalar 角度和位置的存储类型。 The storage type for angles and positions.

Definition at line 40 of file kinematic.hpp.

Constructor & Destructor Documentation

◆ Joint()

template<typename Scalar >

LibXR::Kinematic::Joint< Scalar >::Joint	(	Axis< Scalar >	axis,
		Object< Scalar > *	parent,
		Transform< Scalar > &	parent2this,
		Object< Scalar > *	child,
		Transform< Scalar > &	this2child
	)

inline

构造 Joint 关节对象。 Constructs a Joint object.

Parameters

axis	关节旋转轴。 Rotation axis of the joint.
parent	关节的父对象。 Parent object of the joint.
parent2this	父坐标系到该关节的变换。 Transform from the parent frame to this joint.
child	关节的子对象。 Child object of the joint.
this2child	该关节到子坐标系的变换。 Transform from this joint to the child frame.

Definition at line 99 of file kinematic.hpp.

      : parent(parent), child(child), param_({parent2this, this2child, axis, 1.0})
  {
    runtime_.inertia = Eigen::Matrix<Scalar, 3, 3>::Zero();
    auto link = new typename Object<Scalar>::Link(this);
    parent->joints.Add(*link);
    child->parent = this;
  }

Member Function Documentation

◆ SetBackwardMult()

template<typename Scalar >

void LibXR::Kinematic::Joint< Scalar >::SetBackwardMult ( Scalar mult )

inline

设置逆向运动学计算的步长系数。 Sets the step size coefficient for inverse kinematics calculations.

该参数用于调整关节在逆向运动学计算中的变化速率。 This parameter adjusts the rate of change of the joint during inverse kinematics calculations.

Parameters

mult	逆向运动学步长系数。 The step size coefficient.

Definition at line 165 of file kinematic.hpp.

165{ param_.ik_mult = mult; }

LibXR::Kinematic::Joint::Param::ik_mult

Scalar ik_mult

逆向运动学步长系数。 Step size coefficient for inverse kinematics.

Definition kinematic.hpp:55

◆ SetState()

template<typename Scalar >

void LibXR::Kinematic::Joint< Scalar >::SetState ( Scalar state )

inline

设置关节当前状态角度。 Sets the current state angle of the joint.

该函数确保角度值在 [-π, π] 之间。 This function ensures the angle value remains within [-π, π].

Parameters

state 需要设置的角度值（弧度）。 The angle value to be set (in radians).

Definition at line 118 of file kinematic.hpp.

  {
    if (state > M_PI)
    {
      state -= 2 * M_PI;
    }
    if (state < -M_PI)
    {
      state += 2 * M_PI;
    }
    runtime_.state_angle.angle() = state;
    runtime_.state_angle.axis() = param_.axis;
  }

◆ SetTarget()

template<typename Scalar >

void LibXR::Kinematic::Joint< Scalar >::SetTarget ( Scalar target )

inline

设置关节的目标角度。 Sets the target angle of the joint.

该函数确保目标角度值在 [-π, π] 之间。 This function ensures the target angle value remains within [-π, π].

Parameters

target 目标角度值（弧度）。 The target angle value (in radians).

Definition at line 141 of file kinematic.hpp.

  {
    if (target > M_PI)
    {
      target -= 2 * M_PI;
    }
    if (target < -M_PI)
    {
      target += 2 * M_PI;
    }
    runtime_.target_angle.angle() = target;
    runtime_.target_angle.axis() = param_.axis;
  }