1 /*
2  *_________________________________________________________________________*
3  *      POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE     *
4  *      DESCRIPTION: SEE READ-ME                                           *
5  *      FILE NAME: mixedjoint.h                                                *
6  *      AUTHORS: See Author List                                           *
7  *      GRANTS: See Grants List                                            *
8  *      COPYRIGHT: (C) 2005 by Authors as listed in Author's List          *
9  *      LICENSE: Please see License Agreement                              *
10  *      DOWNLOAD: Free at www.rpi.edu/~anderk5                             *
11  *      ADMINISTRATOR: Prof. Kurt Anderson                                 *
12  *                     Computational Dynamics Lab                          *
13  *                     Rensselaer Polytechnic Institute                    *
14  *                     110 8th St. Troy NY 12180                           *
15  *      CONTACT:        anderk5@rpi.edu                                    *
16  *_________________________________________________________________________*/
17 
18 #ifndef MIXEDJOINT_H
19 #define MIXEDJOINT_H
20 
21 #include "joint.h"
22 
23 
24 class MixedJoint : public Joint{
25   Matrix const_sP;
26   int numrots;
27   int numtrans;
28   Vect6 dofs;
29 public:
30   MixedJoint();
31   ~MixedJoint();
32 
33   JointType GetType();
34   bool ReadInJointData(std::istream& in);
35   void WriteOutJointData(std::ostream& out);
36   void ComputeLocalTransform();
37   void SetsP(Matrix& sPr, Vect6& temp_dofs, int i, int j);
38   Matrix GetForward_sP();
39   Matrix GetBackward_sP();
40   void UpdateForward_sP( Matrix& sP);
41   void UpdateBackward_sP( Matrix& sP);
42   void ForwardKinematics();
43   void BackwardKinematics();
44 };
45 
46 #endif
47