1 /*
2  *_________________________________________________________________________*
3  *      POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE     *
4  *      DESCRIPTION: SEE READ-ME                                           *
5  *      FILE NAME: freebodyjoint.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 FREEBODYJOINT_H
19 #define FREEBODYJOINT_H
20 
21 #include "joint.h"
22 
23 
24 class FreeBodyJoint : public Joint{
25 public:
26   FreeBodyJoint();
27   ~FreeBodyJoint();
28 
29   JointType GetType();
30   bool ReadInJointData(std::istream& in);
31   void WriteOutJointData(std::ostream& out);
32   void ComputeLocalTransform();
33   Matrix GetForward_sP();
34   Matrix GetBackward_sP();
35   void UpdateForward_sP( Matrix& sP);
36   void UpdateBackward_sP( Matrix& sP);
37   void ForwardKinematics();
38   void BackwardKinematics();
39 };
40 
41 #endif
42