taoJointUser Class Reference

User defined joint class for articulated bodyThis provides a user defined joint for articulated body dynamics. More...

#include <taoJoint.h>

Inheritance diagram for taoJointUser:

Collaboration diagram for taoJointUser:

Public Member Functions
virtual void	setABJoint (taoABJoint *joint)
virtual taoABJoint *	getABJoint ()
virtual taoABJoint const *	getABJoint () const
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
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_

Protected Attributes
taoABJoint *	_abJoint

Detailed Description

User defined joint class for articulated body

This provides a user defined joint for articulated body dynamics.

See Also

taoJointDOF1

Member Function Documentation

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

inlinevirtualinherited

Note

pointer semantics to support more than one DOF

Implements taoJoint.

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

inlinevirtualinherited

Note

pointer semantics to support more than one DOF

Implements taoJoint.

deVector6 & taoJointDOF1::getJg ( ) const

virtualinherited

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

virtualinherited

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

inlinevirtualinherited

Note

pointer semantics to support more than one DOF

Implements taoJoint.

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

inlinevirtualinherited

Note

pointer semantics to support more than one DOF

Implements taoJoint.

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

inlinevirtualinherited

Note

pointer semantics to support more than one DOF

Implements taoJoint.

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

inlinevirtualinherited

Note

pointer semantics to support more than one DOF

Implements taoJoint.

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

inlinevirtualinherited

Note

pointer semantics to support more than one DOF

Implements taoJoint.

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

inlinevirtualinherited

Note

pointer semantics to support more than one DOF

Implements taoJoint.

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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