dyn::Joint#

rb::dyn::Joint represents one joint in the rigid-body model tree. It provides factories for fixed, prismatic, and revolute joints and exposes the limit metadata that model-based code often needs.

Header

#include <rby1-sdk/dynamics/joint.h>

Declaration

Namespace	`rb::dyn`
Kind	`class`
Primary role	Represent one joint and its connectivity, motion subspace, and limits.

Public Member Functions

Method group	Purpose	Notes
`Make(...)`, `MakeFixedJoint(...)`, `MakePrismaticJoint(...)`, `MakeRevoluteJoint(...)`	Construct new joint objects.	Static factories for the main joint families.
`ConnectLinks(...)` and `Disconnect()`	Attach or detach parent and child links.	Use while building or editing a model.
`GetParentLink()`, `GetChildLink()`, `GetName()`, `IsFixed()`	Inspect identity and connectivity.	Useful during model traversal.
`GetLimit()` and `SetLimit()`	Read or write joint, velocity, acceleration, and torque limits.	Important for controllers and safety checks.

Detailed Reference

class Joint : public std::enable_shared_from_this<Joint>#

Public Functions

void ConnectLinks(const std::shared_ptr<Link> &parent_link, const std::shared_ptr<Link> &child_link, const math::SE3::MatrixType &T_pj = math::SE3::Identity(), const math::SE3::MatrixType &T_jc = math::SE3::Identity())#

void Disconnect()#

std::shared_ptr<Link> GetChildLink()#

std::shared_ptr<const Link> GetChildLink() const#

double GetLimitQddotLower() const#

double GetLimitQddotUpper() const#

double GetLimitQdotLower() const#

double GetLimitQdotUpper() const#

double GetLimitQLower() const#

double GetLimitQUpper() const#

double GetLimitTorque() const#

std::string GetName() const#

std::weak_ptr<Link> GetParentLink()#

std::weak_ptr<const Link> GetParentLink() const#

bool IsFixed() const#

void SetLimitQ(double lower, double upper)#

void SetLimitQddot(double lower, double upper)#

void SetLimitQddotLower(double val)#

void SetLimitQddotUpper(double val)#

void SetLimitQdot(double lower, double upper)#

void SetLimitQdotLower(double val)#

void SetLimitQdotUpper(double val)#

void SetLimitQLower(double val)#

void SetLimitQUpper(double val)#

void SetLimitTorque(double value)#

Public Static Functions

static std::shared_ptr<Joint> Make(std::string name, math::se3v::MatrixType S)#

static std::shared_ptr<Joint> MakeFixedJoint(std::string name)#

static std::shared_ptr<Joint> MakePrismaticJoint(std::string name, const math::SE3::MatrixType &T = math::SE3::Identity(), const Eigen::Vector3d &axis = {0, 0, 1})#

static std::shared_ptr<Joint> MakeRevoluteJoint(std::string name, const math::SE3::MatrixType &T = math::SE3::Identity(), const Eigen::Vector3d &axis = {0, 0, 1})#

Friends

friend class Robot

Related Types

Examples

dynamics/load_urdf.cpp and dynamics/simple_robot.cpp are the most relevant entry points.