#include <UniversalJoint.h>
Inheritance diagram for Physsim::UniversalJoint:
Public Types | |
| enum | Axis { eAxis1, eAxis2 } |
Public Member Functions | |
| UniversalJoint () | |
| Initializes the joint. | |
| virtual void | clone (BasePtr &cloned, bimap< BasePtr, BasePtr > *obj_map=NULL) const |
| Clones this object. | |
| virtual void | load_state (BaseConstPtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) |
| Loads the state of this object. | |
| virtual void | save_state (BasePtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) const |
| Saves the state of this object. | |
| UniversalJoint (boost::weak_ptr< RigidBody > inboard, boost::weak_ptr< RigidBody > outboard) | |
| Initializes the joint with the specified inboard and outboard links. | |
| Vector3 | get_axis_global (Axis a) const |
| Gets the global axis for this joint. | |
| void | set_axis_global (const Vector3 &axis, Axis a) |
| Sets the global axis for this joint. | |
| void | set_axis_local (const Vector3 &axis, Axis a) |
| Sets the local axis of translation for this joint. | |
| virtual void | update_spatial_axes () |
| Updates the spatial axis for this joint. | |
| virtual void | determine_Q () |
| Determines (and sets) the value of Q from the axes and the inboard link and outboard link transforms. | |
| virtual const Matrix4 & | get_transform () |
| Gets the transform induced by this joint. | |
| virtual const SMatrixN & | get_spatial_axes (ReferenceFrameType type) |
| Gets the spatial axes for this joint. | |
| virtual const SMatrixN & | get_spatial_axes_deriv (ReferenceFrameType type) |
| Gets the derivative of the spatial-axis. | |
| virtual void | load_from_xml (XMLTreeConstPtr node, std::map< std::string, BasePtr > &id_map) |
| Implements Base::load_from_xml(). | |
| virtual void | save_to_xml (XMLTreePtr node, std::list< BaseConstPtr > &shared_objects) const |
| Implements Base::save_to_xml(). | |
| virtual unsigned | get_num_dof () const |
| Gets the number of degrees-of-freedom for this joint. | |
| virtual bool | is_singular_config () const |
| Universal joint can never be in a singular configuration. | |
| const Vector3 & | get_axis_local (Axis a) const |
| Gets the unit vector describing the local axis of rotation for this joint. | |
| UniversalJoint::UniversalJoint | ( | ) |
Initializes the joint.
The axes of rotation are each set to [0 0 0]. The inboard and outboard links are set to NULL.
| UniversalJoint::UniversalJoint | ( | boost::weak_ptr< RigidBody > | inboard, | |
| boost::weak_ptr< RigidBody > | outboard | |||
| ) |
Initializes the joint with the specified inboard and outboard links.
The axis of rotation is set to [0 0 0]. Note that it is possible that the inboard link is NULL, indicating that this joint connects the base to the outboard link.
| void UniversalJoint::load_state | ( | BaseConstPtr | object, | |
| bimap< BasePtr, BasePtr > * | correspondence = NULL | |||
| ) | [virtual] |
Loads the state of this object.
The underlying penalty resting contact method must have identical structure.
Reimplemented from Physsim::Joint.
| void UniversalJoint::save_state | ( | BasePtr | object, | |
| bimap< BasePtr, BasePtr > * | correspondence = NULL | |||
| ) | const [virtual] |
Saves the state of this object.
The underlying penalty resting contact method must have identical structure.
Reimplemented from Physsim::Joint.
| Vector3 UniversalJoint::get_axis_global | ( | Axis | a | ) | const |
Gets the global axis for this joint.
The global axis for this joint takes the orientation of the inboard link into account; thus, if the orientation of the inboard link changes, then the global axis changes.
setAxisLocal()
| void UniversalJoint::set_axis_global | ( | const Vector3 & | axis, | |
| Axis | a | |||
| ) |
Sets the global axis for this joint.
The global axis for this joint takes the orientation of the inboard link into account; thus, if the orientation of the inboard link changes, then the global axis changes.
setAxisLocal()
| void UniversalJoint::set_axis_local | ( | const Vector3 & | axis, | |
| Axis | a | |||
| ) |
Sets the local axis of translation for this joint.
The local axis for this joint does not take the orientation of the inboard link into account; thus, if the orientation of the inboard link changes, then the local axis remains constant.
| axis | a unit vector |
| const SMatrixN & UniversalJoint::get_spatial_axes | ( | ReferenceFrameType | rftype | ) | [virtual] |
Gets the spatial axes for this joint.
Reimplemented from Physsim::Joint.
| const SMatrixN & UniversalJoint::get_spatial_axes_deriv | ( | ReferenceFrameType | rftype | ) | [virtual] |
Gets the derivative of the spatial-axis.
Implements Physsim::Joint.
| const Vector3& Physsim::UniversalJoint::get_axis_local | ( | Axis | a | ) | const [inline] |
Gets the unit vector describing the local axis of rotation for this joint.
The local axis for this joint does not take the orientation of the inboard link into account; thus, if the orientation of the inboard link changes, then the local axis remains constant.
1.5.1