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 | |
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 |
Class for representing "handle"; two pJoint instances are attached to both sides of each joint.
pJoint::pJoint | ( | Joint * | _joint, |
Joint * | _link_side | ||
) | [inline] |
pJoint::~pJoint | ( | ) | [inline] |
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] |
Joint* pJoint::GetJoint | ( | ) | [inline] |
pJoint* pJoint::Pair | ( | ) | [inline] |
int pJoint::ParentSide | ( | ) | [inline] |
fVec pJoint::acc_final [private] |
fVec pJoint::colf_final [private] |
fVec pJoint::dvel [private] |
fVec pJoint::f_final [private] |
fVec pJoint::Jdot [private] |
Joint* pJoint::joint [private] |
Joint* pJoint::link_side [private] |
pJoint* pJoint::pair [private] |
int pJoint::parent_side [private] |
pLink* pJoint::plink [private] |
pSubChain* pJoint::subchain [private] |
fVec pJoint::vel_final [private] |