1 /*
2  *_________________________________________________________________________*
3  *      POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE     *
4  *      DESCRIPTION: SEE READ-ME                                           *
5  *      FILE NAME: prismaticjoint.cpp                                       *
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 PRISMATICJOINT_H
19 #define PRISMATICJOINT_H
20 
21 #include "joint.h"
22 #include "vect3.h"
23 #include "mat3x3.h"
24 
25 
26 
27 class PrismaticJoint : public Joint  {
28   Vect3 axis_pk; // unit vector in body1 basis
29   Vect3 axis_k;  // unit vector in body2 basis
30 public:
31   PrismaticJoint();
32   ~PrismaticJoint();
33   JointType GetType();
34   bool ReadInJointData(std::istream& in);
35   void WriteOutJointData(std::ostream& out);
36   Matrix GetForward_sP();
37   Matrix GetBackward_sP();
38   void UpdateForward_sP( Matrix& sP);
39   void UpdateBackward_sP( Matrix& sP);
40   void ComputeForwardTransforms();
41   void ComputeBackwardTransforms();
42   void ComputeLocalTransform();
43   void ForwardKinematics();
44   void BackwardKinematics();
45 };
46 
47 #endif
48