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