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

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



	class RevoluteJoint : public Joint {
	Vect3 axis_pk; // unit vector in body1 basis
	Vect3 axis_k; // unit vector in body2 basis
	public:
	RevoluteJoint();
	~RevoluteJoint();
	JointType GetType();
	void SetAxisK(VirtualMatrix& axis);
	void SetAxisPK(VirtualMatrix& axis);
	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