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