pJoint Class Reference

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

#include <psim.h>

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 More...
pJoint *	pair
int	parent_side
	link is in parent side? More...
pLink *	plink
pSubChain *	subchain
	the subchain which only contains the link associated with this pjoint More...
fVec	vel_final

Friends
class	pLink
class	pSim
class	pSubChain

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.

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.

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.

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.

---

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

• psim.h
• psim.cpp
• update.cpp