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