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body23joint.h
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Created
Thu, Aug 29, 05:07
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1 KB
Mime Type
text/x-c++
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Sat, Aug 31, 05:07 (2 d)
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blob
Format
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Handle
20041812
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rLAMMPS lammps
body23joint.h
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: body23joint.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 BODY23JOINT_H
#define BODY23JOINT_H
#include "joint.h"
#include "vect3.h"
#include "mat3x3.h"
class
Body23Joint
:
public
Joint
{
Matrix
const_sP
;
public:
Body23Joint
();
~
Body23Joint
();
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
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