225 lines
8.1 KiB
C++
225 lines
8.1 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_JOINT_HPP
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#define KDL_JOINT_HPP
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#include "frames.hpp"
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#include <string>
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#include <exception>
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namespace KDL {
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/**
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* \brief This class encapsulates a simple joint, that is with one
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* parameterized degree of freedom and with scalar dynamic properties.
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*
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* A simple joint is described by the following properties :
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* - scale: ratio between motion input and motion output
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* - offset: between the "physical" and the "logical" zero position.
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* - type: revolute or translational, along one of the basic frame axes
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* - inertia, stiffness and damping: scalars representing the physical
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* effects along/about the joint axis only.
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*
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* @ingroup KinematicFamily
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*/
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class Joint {
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public:
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typedef enum { RotAxis,RotX,RotY,RotZ,TransAxis,TransX,TransY,TransZ,None} JointType;
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/**
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* Constructor of a joint.
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*
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* @param name of the joint
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* @param type type of the joint, default: Joint::None
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* @param scale scale between joint input and actual geometric
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* movement, default: 1
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* @param offset offset between joint input and actual
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* geometric input, default: 0
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* @param inertia 1D inertia along the joint axis, default: 0
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* @param damping 1D damping along the joint axis, default: 0
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* @param stiffness 1D stiffness along the joint axis,
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* default: 0
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*/
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explicit Joint(const std::string& name, const JointType& type=None,const double& scale=1,const double& offset=0,
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const double& inertia=0,const double& damping=0,const double& stiffness=0);
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/**
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* Constructor of a joint.
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*
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* @param type type of the joint, default: Joint::None
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* @param scale scale between joint input and actual geometric
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* movement, default: 1
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* @param offset offset between joint input and actual
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* geometric input, default: 0
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* @param inertia 1D inertia along the joint axis, default: 0
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* @param damping 1D damping along the joint axis, default: 0
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* @param stiffness 1D stiffness along the joint axis,
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* default: 0
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*/
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explicit Joint(const JointType& type=None,const double& scale=1,const double& offset=0,
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const double& inertia=0,const double& damping=0,const double& stiffness=0);
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/**
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* Constructor of a joint.
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*
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* @param name of the joint
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* @param _origin the origin of the joint
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* @param _axis the axis of the joint
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* @param type type of the joint
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* @param _scale scale between joint input and actual geometric
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* movement, default: 1
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* @param _offset offset between joint input and actual
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* geometric input, default: 0
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* @param _inertia 1D inertia along the joint axis, default: 0
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* @param _damping 1D damping along the joint axis, default: 0
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* @param _stiffness 1D stiffness along the joint axis,
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* default: 0
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*/
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Joint(const std::string& name, const Vector& _origin, const Vector& _axis, const JointType& type, const double& _scale=1, const double& _offset=0,
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const double& _inertia=0, const double& _damping=0, const double& _stiffness=0);
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/**
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* Constructor of a joint.
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*
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* @param _origin the origin of the joint
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* @param _axis the axis of the joint
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* @param type type of the joint
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* @param _scale scale between joint input and actual geometric
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* movement, default: 1
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* @param _offset offset between joint input and actual
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* geometric input, default: 0
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* @param _inertia 1D inertia along the joint axis, default: 0
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* @param _damping 1D damping along the joint axis, default: 0
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* @param _stiffness 1D stiffness along the joint axis,
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* default: 0
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*/
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Joint(const Vector& _origin, const Vector& _axis, const JointType& type, const double& _scale=1, const double& _offset=0,
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const double& _inertia=0, const double& _damping=0, const double& _stiffness=0);
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/**
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* Request the 6D-pose between the beginning and the end of
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* the joint at joint position q
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*
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* @param q the 1D joint position
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*
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* @return the resulting 6D-pose
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*/
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Frame pose(const double& q)const;
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/**
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* Request the resulting 6D-velocity with a joint velocity qdot
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*
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* @param qdot the 1D joint velocity
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*
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* @return the resulting 6D-velocity
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*/
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Twist twist(const double& qdot)const;
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/**
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* Request the Vector corresponding to the axis of a revolute joint.
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*
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* @return Vector. e.g (1,0,0) for RotX etc.
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*/
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Vector JointAxis() const;
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/**
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* Request the Vector corresponding to the origin of a revolute joint.
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*
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* @return Vector
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*/
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Vector JointOrigin() const;
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/**
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* Request the name of the joint
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*
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*
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* @return const reference to the name of the joint
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*/
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const std::string& getName()const
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{
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return name;
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}
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/**
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* Request the type of the joint.
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*
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* @return const reference to the type
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*/
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const JointType& getType() const
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{
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return type;
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};
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/**
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* Request the stringified type of the joint.
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*
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* @return const string
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*/
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const std::string getTypeName() const
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{
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switch (type) {
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case RotAxis:
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return "RotAxis";
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case TransAxis:
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return "TransAxis";
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case RotX:
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return "RotX";
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case RotY:
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return "RotY";
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case RotZ:
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return "RotZ";
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case TransX:
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return "TransX";
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case TransY:
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return "TransY";
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case TransZ:
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return "TransZ";
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case None:
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return "None";
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default:
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return "None";
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}
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};
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virtual ~Joint();
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private:
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std::string name;
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Joint::JointType type;
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double scale;
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double offset;
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double inertia;
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double damping;
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double stiffness;
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// variables for RotAxis joint
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Vector axis, origin;
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mutable Frame joint_pose;
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mutable double q_previous;
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class joint_type_exception: public std::exception{
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virtual const char* what() const throw(){
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return "Joint Type excption";}
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} joint_type_ex;
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};
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} // end of namespace KDL
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#endif
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