1 /* 2 *_________________________________________________________________________* 3 * POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE * 4 * DESCRIPTION: SEE READ-ME * 5 * FILE NAME: sphericalFlexiblejoint.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 SPHERICALFLEXIBLEJOINT_H 19 #define SPHERICALFLEXIBLEJOINT_H 20 21 #include "sphericaljoint.h" 22 #include "vect3.h" 23 #include "mat3x3.h" 24 25 class SphericalFlexiblejoint : public SphericalJoint { 26 public: 27 SphericalFlexiblejoint(); 28 ~SphericalFlexiblejoint(); 29 void ForwardKinematics(); 30 void BendingAndTwistingTorque(Mat3x3 temp1, Mat3x3 temp2, Vect3 &btorque,Vect3 &ttorque); 31 }; 32 33 #endif 34