/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/dynJoint.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Andrew T. Miller and Matei T. Ciocarlie
//
// $Id: dynJoint.h,v 1.11 2009/05/26 20:05:52 cmatei Exp $
//
//######################################################################

#ifndef _DYNJOINT_H_

#include <vector>
#include <map>
#include "matvec3D.h"

class Joint;
class DynamicBody;
class Body;
class Matrix;


class DynJoint {
public:
        enum DynamicJointT{FIXED, REVOLUTE, UNIVERSAL, BALL, PRISMATIC};
 protected:
  
  DynamicBody *prevLink;

  DynamicBody *nextLink;

  transf prevFrame;
    
  transf nextFrame;

public:

  DynJoint(DynamicBody *pLink,DynamicBody *nLink,const transf &pFrame,
        const transf &nFrame):
    prevLink(pLink),nextLink(nLink),prevFrame(pFrame),nextFrame(nFrame) {}

  virtual void buildConstraints(double *Nu,double *eps,int numBodies,
                                                                std::map<Body*,int> &islandIndices,int &ncn);

  virtual void getConstraints(char *c) = 0;

  virtual void updateValues() = 0;

  virtual transf getNextTrans() = 0;

  virtual transf getPrevTrans() = 0;

  virtual int getNumConstraints()=0;

  DynamicBody *getPrevLink() const {return prevLink;}

  DynamicBody *getNextLink() const {return nextLink;}

  virtual DynamicJointT getType() = 0;

  void jacobian(transf toTarget, Matrix *J, bool worldCoords);
};


class FixedDynJoint : public DynJoint {
 public:
  FixedDynJoint(DynamicBody *pLink,DynamicBody *nLink,
                const transf &pFrame=transf::IDENTITY,
                const transf &nFrame=transf::IDENTITY) :
    DynJoint(pLink,nLink,pFrame,nFrame) {}
  
  virtual int getNumConstraints() {return 6;}

   virtual void getConstraints(char *c) {
           c[0] = c[1] = c[2] = c[3] = c[4] = c[5] = 1;
   }

   virtual void buildConstraints(double *Nu,double *eps,int numBodies,
                                                                std::map<Body*,int> &islandIndices,int &ncn);

  virtual void updateValues();

  virtual transf getNextTrans(){return transf::IDENTITY;}

  virtual transf getPrevTrans(){return prevFrame;}

  virtual DynamicJointT getType(){return FIXED;}
};


class RevoluteDynJoint : public DynJoint {
 protected:  
  Joint *joint;

 public:

  RevoluteDynJoint(Joint *j,DynamicBody *pLink,DynamicBody *nLink,
                  const transf &pFrame=transf::IDENTITY,
                  const transf &nFrame=transf::IDENTITY) :
    DynJoint(pLink,nLink,pFrame,nFrame),joint(j) {}
  
  virtual int getNumConstraints() {return 5;}

  virtual void getConstraints(char *c) {
    c[0] = c[1] = c[2] = c[3] = c[4] = 1;
        c[5] = 0;
  }
  virtual transf getNextTrans();

  virtual transf getPrevTrans();

  virtual void updateValues();

  virtual DynamicJointT getType(){return REVOLUTE;}
};



class UniversalDynJoint : public DynJoint {

  Joint *joint1;

  Joint *joint2;

 public:

  UniversalDynJoint(Joint *j1,Joint *j2,DynamicBody *pLink,DynamicBody *nLink,
                    const transf &pFrame=transf::IDENTITY,
                    const transf &nFrame=transf::IDENTITY) :
    DynJoint(pLink,nLink,pFrame,nFrame),joint1(j1),joint2(j2) {}

  virtual int getNumConstraints() {return 4;}

  virtual void getConstraints(char *c) {
        c[0] = c[1] = c[2] = c[3] = 1;
        c[4] = c[5] = 0;
  }

  virtual void updateValues();

  virtual transf getNextTrans();

  virtual transf getPrevTrans();

  virtual DynamicJointT getType(){return UNIVERSAL;}
};


class BallDynJoint : public DynJoint {
  Joint *joint1;

  Joint *joint2;

  Joint *joint3;

 public:
  BallDynJoint(Joint *j1,Joint *j2,Joint *j3,DynamicBody *pLink,DynamicBody *nLink,
                    const transf &pFrame=transf::IDENTITY,
                    const transf &nFrame=transf::IDENTITY) :
    DynJoint(pLink,nLink,pFrame,nFrame),joint1(j1),joint2(j2),joint3(j3) {}

  virtual int getNumConstraints() {return 3;}

  virtual void getConstraints(char *c) {
    c[0] = c[1] = c[2] = 1;
    c[3] = c[4] = c[5] = 0;
  }

  virtual void updateValues();

  virtual transf getNextTrans();

  virtual transf getPrevTrans();

  virtual DynamicJointT getType(){return BALL;}
};

#define _DYNJOINT_H_
#endif

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graspit
Author(s):
autogenerated on Wed Jan 25 10:58:51 2012