1 DOF joint class for articulated bodyThis provides a 1-DOF joint for articulated body dynamics More...

#include <taoJoint.h>

Inheritance diagram for taoJointDOF1:

Collaboration diagram for taoJointDOF1:

Public Member Functions
	taoJointDOF1 (taoJointType axis)

taoJointType	getJointType () const

virtual deInt	getDOF ()

virtual deVector6 &	getS ()

virtual void	reset ()

virtual taoVarDOF1 *	getVarDOF1 ()

virtual taoVarDOF1 const *	getVarDOF1 () const

virtual void	addQdelta ()

virtual void	addDQdelta ()

virtual void	zeroTau ()

virtual void	zeroDDQ ()

virtual void	zeroDQ ()

virtual void	zeroQ ()

virtual void	setTau (const deFloat *v)

virtual void	setDDQ (const deFloat *v)

virtual void	setDQ (const deFloat *v)

virtual void	setQ (const deFloat *v)

virtual void	getTau (deFloat *v) const

virtual void	getDDQ (deFloat *v) const

virtual void	getDQ (deFloat *v) const

virtual void	getQ (deFloat *v) const

virtual void	clampDQ ()

virtual void	integrate (const deFloat dt)

virtual deVector6 &	getJg () const

virtual void	getJgColumns (deVector6 *Jg_columns) const

virtual void	setDVar (taoDVar *var)

virtual taoDVar *	getDVar ()

virtual taoDVar const *	getDVar () const

void	setType (scl::EJointType t)

scl::EJointType	getType () const

virtual void	setABJoint (taoABJoint *joint)=0

virtual taoABJoint *	getABJoint ()=0

virtual taoABJoint const *	getABJoint () const =0

void	setDQclamp (deInt b)

deInt	getDQclamp ()

void	setNext (taoJoint *joint)

taoJoint *	getNext ()

virtual void	setDQmax (deFloat dq)

virtual deFloat	getDQmax ()

virtual void	setDamping (deFloat d)

virtual deFloat	getDamping ()

virtual void	setInertia (deFloat i)

virtual deFloat	getInertia ()

virtual void	updateFrameLocal (deFrame *local)=0

Public Attributes
std::string	name_

Private Attributes
taoJointType	_axis

Detailed Description

1 DOF joint class for articulated body

This provides a 1-DOF joint for articulated body dynamics

See Also: taoJoint, taoJointPrismatic, taoJointRevolute

Member Function Documentation

virtual void taoJointDOF1::getDDQ ( deFloat * v ) const

inlinevirtual

Note: pointer semantics to support more than one DOF

Implements taoJoint.

virtual void taoJointDOF1::getDQ ( deFloat * v ) const

inlinevirtual

Note: pointer semantics to support more than one DOF

Implements taoJoint.

deVector6 & taoJointDOF1::getJg ( ) const

virtual

It looks like this method returns the Jacobian contribution of this joint, expressed in the global frame, and with rotations expressed as components around the global coordinate axes.

Note: This method looks like a failed attempt at polymorphism – see also taoJointSpherical::getJg() – and is retained for backwards compatibility. You should use getJgColumns() instead.

void taoJointDOF1::getJgColumns ( deVector6 * Jg_columns ) const

virtual

You need to pass in one deVector6 instance, because DOF1 joints have one degree of (velocity) freedom. Note that getDOF() returns one, so you can use the polymorphic form.

Implements taoJoint.

virtual void taoJointDOF1::getQ ( deFloat * v ) const

inlinevirtual

Note: pointer semantics to support more than one DOF

Implements taoJoint.

virtual void taoJointDOF1::getTau ( deFloat * v ) const

inlinevirtual

Note: pointer semantics to support more than one DOF

Implements taoJoint.

virtual void taoJointDOF1::setDDQ ( const deFloat * v )

inlinevirtual

Note: pointer semantics to support more than one DOF

Implements taoJoint.

virtual void taoJointDOF1::setDQ ( const deFloat * v )

inlinevirtual

Note: pointer semantics to support more than one DOF

Implements taoJoint.

virtual void taoJointDOF1::setQ ( const deFloat * v )

inlinevirtual

Note: pointer semantics to support more than one DOF

Implements taoJoint.

virtual void taoJointDOF1::setTau ( const deFloat * v )

inlinevirtual

Note: pointer semantics to support more than one DOF

Implements taoJoint.

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

/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoJoint.h
/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoJoint.cpp

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Member Function Documentation