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sphericaljoint.h
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			/*
			_________________________________________________________________________
			* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
			* DESCRIPTION: SEE READ-ME *
			* FILE NAME: sphericaljoint.h *
			* AUTHORS: See Author List *
			* GRANTS: See Grants List *
			* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
			* LICENSE: Please see License Agreement *
			* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
			* ADMINISTRATOR: Prof. Kurt Anderson *
			* Computational Dynamics Lab *
			* Rensselaer Polytechnic Institute *
			* 110 8th St. Troy NY 12180 *
			* CONTACT: anderk5@rpi.edu *
			_________________________________________________________________________/

			#ifndef SPHERICALJOINT_H
			#define SPHERICALJOINT_H

			#include "joint.h"
			#include "vect3.h"
			#include "mat3x3.h"



			class SphericalJoint : public Joint {
			Matrix const_sP;
			public:
			SphericalJoint();
			~SphericalJoint();
			JointType GetType();
			bool ReadInJointData(std::istream& in);
			void WriteOutJointData(std::ostream& out);
			Matrix GetForward_sP();
			Matrix GetBackward_sP();
			void UpdateForward_sP( Matrix& sP);
			void UpdateBackward_sP( Matrix& sP);
			void ComputeLocalTransform();
			void ForwardKinematics();
			void BackwardKinematics();
			};

			#endif