Class KinematicJoint`Abstract`

Kinematic Joint. Connects two kinematic links, allowing relative motion according to the joint type.

Hierarchy (View Summary)

KinematicJoint

Index

Accessors

attachment base dof limits type

Methods

parameter updateLimits updateParameter

Accessors

attachment

get attachment(): KinematicLink
The first link connected by the joint.

Returns KinematicLink
set attachment(value: KinematicLink): void
Parameters
- value: KinematicLink
Returns void

base

get base(): KinematicLink
The second link connected by the joint.

Returns KinematicLink
set base(value: KinematicLink): void
Parameters
- value: KinematicLink
Returns void

dof

get dof(): number
The number of degrees of freedom for the joint.

Returns number

limits

get limits(): LimitPair
Limits for the joint's degrees of freedom.

Returns LimitPair
Remarks
Spherical joints do not support limits.
set limits(value: LimitPair): void
Parameters
- value: LimitPair
Returns void

`Abstract`type

get type(): KinematicJointType
Returns KinematicJointType

Methods

parameter

parameter(dof: number): number
Gets the joint parameter for a degree of freedom.
Parameters
- dof: number
  The degree of freedom.
Returns number
The joint parameter.

updateLimits

updateLimits(): void
Updates the joint limits.

Returns void

updateParameter

updateParameter(dof: number, value: number): void
Sets the joint parameter for a degree of freedom.
Parameters
- dof: number
  The degree of freedom.
- value: number
  The joint parameter.
Returns void