A revolute joint constrains all 3 translations and 2 rotations. More...
#include <dynJoint.h>
Public Member Functions | |
| virtual void | getConstraints (char *c) |
| Enforces all constraints except one axis of rotation. | |
| virtual transf | getNextTrans () |
| virtual int | getNumConstraints () |
| virtual transf | getPrevTrans () |
| virtual DynamicJointT | getType () |
| Returns the type of this dynamic joint. | |
| RevoluteDynJoint (Joint *j, DynamicBody *pLink, DynamicBody *nLink, const transf &pFrame=transf::IDENTITY, const transf &nFrame=transf::IDENTITY) | |
| virtual void | updateValues () |
Protected Attributes | |
| Joint * | joint |
| A pointer to the associated joint in the kinematic chain. | |
A revolute joint constrains all 3 translations and 2 rotations.
It only allows relative rotation about a single axis.
Definition at line 170 of file dynJoint.h.
| RevoluteDynJoint::RevoluteDynJoint | ( | Joint * | j, | |
| DynamicBody * | pLink, | |||
| DynamicBody * | nLink, | |||
| const transf & | pFrame = transf::IDENTITY, |
|||
| const transf & | nFrame = transf::IDENTITY | |||
| ) | [inline] |
Initializes the class with pointers and transfroms of the two links connected to this joint. It also requires a pointer to the joint in the kinematic chain that this dynJoint is associated with.
Definition at line 182 of file dynJoint.h.
| virtual void RevoluteDynJoint::getConstraints | ( | char * | c | ) | [inline, virtual] |
Enforces all constraints except one axis of rotation.
Implements DynJoint.
Definition at line 190 of file dynJoint.h.
| transf RevoluteDynJoint::getNextTrans | ( | ) | [virtual] |
Returns the transform from the next link to the coordinate system of this joint
Implements DynJoint.
Definition at line 260 of file dynJoint.cpp.
| virtual int RevoluteDynJoint::getNumConstraints | ( | ) | [inline, virtual] |
Returns the number of constrained DOF's for this joint.
Implements DynJoint.
Definition at line 187 of file dynJoint.h.
| transf RevoluteDynJoint::getPrevTrans | ( | ) | [virtual] |
Returns the transform from the previous link to the coordinate system of this joint
Implements DynJoint.
Definition at line 250 of file dynJoint.cpp.
| virtual DynamicJointT RevoluteDynJoint::getType | ( | ) | [inline, virtual] |
Returns the type of this dynamic joint.
Implements DynJoint.
Definition at line 200 of file dynJoint.h.
| void RevoluteDynJoint::updateValues | ( | ) | [virtual] |
After a timestep has been completed, this computes the current joint angle and velocity from the relative positions and velocities of the connected links.
Implements DynJoint.
Definition at line 222 of file dynJoint.cpp.
Joint* RevoluteDynJoint::joint [protected] |
A pointer to the associated joint in the kinematic chain.
Definition at line 173 of file dynJoint.h.
