Joint.h File Reference

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Data Structures
struct	Joint
	Describes a joint relative to the predecessor body. More...
struct	CustomJoint

Namespaces
	RigidBodyDynamics
	Namespace for all structures of the RigidBodyDynamics library.

Enumerations
enum	JointType {   JointTypeUndefined = 0, JointTypeRevolute, JointTypePrismatic,   JointTypeRevoluteX, JointTypeRevoluteY, JointTypeRevoluteZ,   JointTypeSpherical, JointTypeEulerZYX, JointTypeEulerXYZ,   JointTypeEulerYXZ, JointTypeTranslationXYZ, JointTypeFloatingBase,   JointTypeFixed, JointTypeHelical, JointType1DoF,   JointType2DoF, JointType3DoF, JointType4DoF,   JointType5DoF, JointType6DoF, JointTypeCustom }
	General types of joints. More...

Functions
RBDL_DLLAPI void	jcalc (Model &model, unsigned int joint_id, const Math::VectorNd &q, const Math::VectorNd &qdot)
	Computes all variables for a joint model. More...
RBDL_DLLAPI Math::SpatialTransform	jcalc_XJ (Model &model, unsigned int joint_id, const Math::VectorNd &q)
RBDL_DLLAPI void	jcalc_X_lambda_S (Model &model, unsigned int joint_id, const VectorNd &q)