mixedjoint.h
4041db8d1a74lammm-devel

mixedjoint.h
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			/*
			_________________________________________________________________________
			* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
			* DESCRIPTION: SEE READ-ME *
			* FILE NAME: mixedjoint.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 MIXEDJOINT_H
			#define MIXEDJOINT_H

			#include "joint.h"


			class MixedJoint : public Joint{
			Matrix const_sP;
			int numrots;
			int numtrans;
			Vect6 dofs;
			public:
			MixedJoint();
			~MixedJoint();

			JointType GetType();
			bool ReadInJointData(std::istream& in);
			void WriteOutJointData(std::ostream& out);
			void ComputeLocalTransform();
			void SetsP(Matrix& sPr, Vect6& temp_dofs, int i, int j);
			Matrix GetForward_sP();
			Matrix GetBackward_sP();
			void UpdateForward_sP( Matrix& sP);
			void UpdateBackward_sP( Matrix& sP);
			void ForwardKinematics();
			void BackwardKinematics();
			};

			#endif