Inheritance diagram for taoABJointSpherical:

Collaboration diagram for taoABJointSpherical:

Public Member Functions
	taoABJointSpherical (taoDJoint *joint)

virtual void	update_localX (const deTransform &home, const deFrame &localFrame)

virtual void	plusEq_SdQ (deVector6 &V)

virtual void	plusEq_V_X_SdQ (deVector6 &C, const deVector6 &V)

virtual void	compute_Dinv_and_SbarT (const deMatrix6 &Ia)

virtual void	minusEq_X_SbarT_St (deMatrix6 &L, const deTransform &localX)

virtual void	plusEq_X_SbarT_Tau (deVector6 &Pah, const deTransform &localX)

virtual void	compute_ddQ (const deVector6 &Pa, const deVector6 &XAh_C)

virtual void	compute_ddQ_zeroTau (const deVector6 &Pa, const deVector6 &XAh_C)

virtual void	compute_ddQ_zeroTauPa (const deVector6 &XAh_C)

virtual void	compute_Tau (const deVector6 &F)

virtual void	plusEq_SddQ (deVector6 &A)

virtual void	minusEq_SdQ_damping (deVector6 &B, const deMatrix6 &Ia)

virtual void	plusEq_S_Dinv_St (deMatrix6 &Omega)

virtual void	compute_Jg (const deTransform &globalX)

virtual void	plusEq_Jg_ddQ (deVector6 &Ag)

virtual void	add2Tau_JgT_F (const deVector6 &Fg)

virtual void	plusEq_S_inertia_ddQ (deVector6 &F, const deVector6 &A)

virtual taoVarSpherical *	getVarSpherical ()

virtual deMatrix3 *	Jg ()

virtual deVector6 &	C ()

virtual deVector6 &	Pa ()

virtual deTransform &	localX ()

virtual deMatrix6 &	L ()

virtual deFloat	getDamping ()

virtual deFloat	getInertia ()

virtual taoDVar *	getDVar ()

virtual void	zeroTau ()

virtual void	addDQdelta ()

virtual void	addQdelta ()

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

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

Public Member Functions

Private Attributes