Physsim: /home/drumwrig/Physsim/include/Physsim/RevoluteJoint.h Source File

00001 /****************************************************************************
00002  * Copyright 2006 Evan Drumwright
00003  * This library is distributed under the terms of the GNU General Public 
00004  * License (found in COPYING).
00005  ****************************************************************************/
00006 
00007 #ifndef _REVOLUTE_JOINT_H
00008 #define _REVOLUTE_JOINT_H
00009 
00010 #include <Physsim/Joint.h>
00011 
00012 namespace Physsim {
00013 
00015 class RevoluteJoint : public Joint
00016 {
00017         public:
00018                 RevoluteJoint();
00019                 virtual ~RevoluteJoint() {}
00020                 virtual void clone(BasePtr& cloned, bimap<BasePtr, BasePtr>* obj_map = NULL) const;
00021                 virtual void load_state(BaseConstPtr object, bimap<BasePtr, BasePtr>* correspondence = NULL);
00022                 virtual void save_state(BasePtr object, bimap<BasePtr, BasePtr>* correspondence = NULL) const;
00023                 RevoluteJoint(boost::weak_ptr<RigidBody> inboard, boost::weak_ptr<RigidBody> outboard);
00024                 Vector3 get_axis_global() const;
00025                 void set_axis_global(const Vector3& axis);
00026                 void set_axis_local(const Vector3& axis);
00027                 virtual void update_spatial_axes();             
00028                 virtual void determine_Q();
00029                 virtual const Matrix4& get_transform();
00030                 virtual const SMatrixN& get_spatial_axes_deriv(ReferenceFrameType type);
00031                 virtual void load_from_xml(XMLTreeConstPtr node, std::map<std::string, BasePtr>& id_map);
00032                 virtual void save_to_xml(XMLTreePtr node, std::list<BaseConstPtr>& shared_objects) const;
00033                 virtual unsigned get_num_dof() const { return 1; }
00034                         
00036 
00043                 const Vector3& get_axis_local() const { return _u; }
00044 
00046                 virtual bool is_singular_config() const { return false; }
00047 
00048         private:
00049                 virtual void update_visualization();
00050 
00052                 Vector3 _u;
00053 
00055                 Matrix4 _T;
00056 
00058                 SMatrixN _si_deriv;
00059 };
00060 }
00061 
00062 #endif