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mixedjoint.h
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Created
Sat, Oct 5, 01:37
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1 KB
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text/x-c++
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Mon, Oct 7, 01:37 (2 d)
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rLAMMPS lammps
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
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