pJoint Class Reference

Class for representing "handle"; two pJoint instances are attached to both sides of each joint. More...

#include <psim.h>

List of all members.

Public Member Functions
Joint *	GetJoint ()
pJoint *	Pair ()
int	ParentSide ()
	pJoint (Joint *_joint, Joint *_link_side)
	~pJoint ()
Private Member Functions
void	calc_dvel ()
void	calc_jacobian ()
void	calc_jdot ()
void	dump (ostream &ost)
Private Attributes
fVec	acc_final
fVec	colf_final
fVec	dvel
fVec	f_final
fMat	J
fVec	Jdot
Joint *	joint
Joint *	link_side
	null in parent side of space joint
pJoint *	pair
int	parent_side
	link is in parent side?
pLink *	plink
pSubChain *	subchain
	the subchain which only contains the link associated with this pjoint
fVec	vel_final
Friends
class	pLink
class	pSim
class	pSubChain

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Detailed Description

Class for representing "handle"; two pJoint instances are attached to both sides of each joint.

Definition at line 81 of file psim.h.

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Constructor & Destructor Documentation

pJoint::pJoint	(	Joint *	_joint,
		Joint *	_link_side
	)		[inline]

Definition at line 87 of file psim.h.

pJoint::~pJoint

(

)

[inline]

Definition at line 110 of file psim.h.

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Member Function Documentation

void pJoint::calc_dvel

(

)

[private]

Definition at line 585 of file update.cpp.

void pJoint::calc_jacobian

(

)

[private]

Definition at line 164 of file update.cpp.

void pJoint::calc_jdot

(

)

[private]

Definition at line 802 of file update.cpp.

void pJoint::dump

(

ostream &

ost

)

[private]

Definition at line 363 of file psim.cpp.

Joint* pJoint::GetJoint

(

)

[inline]

Definition at line 116 of file psim.h.

pJoint* pJoint::Pair

(

)

[inline]

Definition at line 113 of file psim.h.

int pJoint::ParentSide

(

)

[inline]

Definition at line 119 of file psim.h.

---

Friends And Related Function Documentation

friend class pLink [friend]

Definition at line 84 of file psim.h.

friend class pSim [friend]

Definition at line 83 of file psim.h.

friend class pSubChain [friend]

Definition at line 85 of file psim.h.

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Member Data Documentation

fVec pJoint::acc_final [private]

Definition at line 138 of file psim.h.

fVec pJoint::colf_final [private]

Definition at line 142 of file psim.h.

fVec pJoint::dvel [private]

Definition at line 141 of file psim.h.

fVec pJoint::f_final [private]

Definition at line 137 of file psim.h.

fMat pJoint::J [private]

Definition at line 135 of file psim.h.

fVec pJoint::Jdot [private]

Definition at line 136 of file psim.h.

Joint* pJoint::joint [private]

Definition at line 128 of file psim.h.

Joint* pJoint::link_side [private]

null in parent side of space joint

Definition at line 129 of file psim.h.

pJoint* pJoint::pair [private]

Definition at line 131 of file psim.h.

int pJoint::parent_side [private]

link is in parent side?

Definition at line 132 of file psim.h.

pLink* pJoint::plink [private]

Definition at line 130 of file psim.h.

pSubChain* pJoint::subchain [private]

the subchain which only contains the link associated with this pjoint

Definition at line 133 of file psim.h.

fVec pJoint::vel_final [private]

Definition at line 143 of file psim.h.

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The documentation for this class was generated from the following files:

• psim.h
• psim.cpp
• update.cpp