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joint.h
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joint.h
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: joint.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 JOINT_H
#define JOINT_H
#include "poemsobject.h"
#include <iostream>
#include "matrices.h"
enum JointType {
XYZJOINT = 0,
FREEBODYJOINT = 1,
REVOLUTEJOINT = 2,
PRISMATICJOINT = 3,
SPHERICALJOINT = 4,
BODY23JOINT = 5,
MIXEDJOINT = 6
};
class Body;
class Point;
class Joint : public POEMSObject {
protected:
Body* body1;
Body* body2;
Point* point1;
Point* point2;
ColMatrix qo; // generalized coordinates (initial value)
ColMatrix uo; // generalized speeds (initial value)
ColMatrix qdoto; // generalized speeds (initial value)
ColMatrix q; // generalized coordinates
ColMatrix u; // generalized speeds
ColMatrix qdot; // generalized coordinate derivatives
ColMatrix udot; // generalized speed derivatives
ColMatrix qdotdot;
Mat3x3 pk_C_ko; // transformation relationship for q = 0
Mat3x3 pk_C_k; // local transform
Mat3x3 k_C_pk;
Vect3 r12;
Vect3 r21;
public:
Joint();
virtual ~Joint();
virtual JointType GetType() = 0;
void SetBodies(Body* b1, Body* b2);
void SetPoints(Point* p1, Point* p2);
int GetBodyID1();
int GetBodyID2();
int GetPointID1();
int GetPointID2();
ColMatrix* GetQ();
ColMatrix* GetU();
ColMatrix* GetQdot();
ColMatrix* GetUdot();
ColMatrix* GetQdotdot();
/*ColMatrix* GetAcc();
ColMatrix* GetAng();*/
void DimQandU(int i);
void DimQandU(int i, int j);
Body* GetBody1();
Body* GetBody2();
Body* OtherBody(Body* body);
Vect3* GetR12();
Vect3* GetR21();
Mat3x3* Get_pkCk();
Mat3x3* Get_kCpk();
//void SetInitialState(VirtualMatrix& q, VirtualMatrix& u);
void SetInitialState(ColMatrix& q, ColMatrix& u);
void SetZeroOrientation(VirtualMatrix& C);
void ResetQdot();
void ResetQ();
bool ReadIn(std::istream& in);
void WriteOut(std::ostream& out);
virtual void WriteOutJointData(std::ostream& out) = 0;
virtual bool ReadInJointData(std::istream& in) = 0;
virtual Matrix GetForward_sP();
virtual Matrix GetBackward_sP();
virtual void UpdateForward_sP(Matrix& sP);
virtual void UpdateBackward_sP(Matrix& sP);
virtual void ComputeForwardTransforms();
virtual void ComputeBackwardTransforms();
virtual void ComputeLocalTransform()=0;
virtual void ComputeForwardGlobalTransform();
virtual void ComputeBackwardGlobalTransform();
virtual void ForwardKinematics()=0;
virtual void BackwardKinematics()=0;
};
// global joint functions
Joint* NewJoint(int type);
#endif

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