Building joint classes
To build joint models, this library uses an approach similar to the so-called factory design pattern. The jointBuilder class builds a new class, based on the specified parameters, linear model name and (optional) nonlinear model(s) and an optional user-defined class name. The newly-created class (e.g. My_new_joint) is derived from a generic joint class genericJoint, thus inheriting all of its functionality. Depending on the chosen models, My_new_joint implements different dynamics functions.
The diagram below presents an overview of the jointBuilder class and the resulting built classes. The built joint classes can be used directly as MATLAB objects or using the Simulink library provided by this toolbox. Note: The parameter files, models and functions used in the examples below may change over time and the diagram below might not be 100% accurate. Refer to the documentation in the code for details.
