Base joint class for articulated bodyThis provides a joint for articulated body dynamics. More...

#include <taoJoint.h>

Inheritance diagram for taoJoint:

Collaboration diagram for taoJoint:

Public Member Functions
virtual	~taoJoint ()

virtual deInt	getDOF ()=0

virtual void	reset ()=0

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	clampDQ ()=0

virtual void	integrate (const deFloat dt)=0

virtual void	updateFrameLocal (deFrame *local)=0

virtual void	setTau (const deFloat *v)=0

virtual void	zeroTau ()=0

virtual void	setDDQ (const deFloat *v)=0

virtual void	zeroDDQ ()=0

virtual void	setDQ (const deFloat *v)=0

virtual void	zeroDQ ()=0

virtual void	setQ (const deFloat *v)=0

virtual void	zeroQ ()=0

virtual void	getTau (deFloat *v) const =0

virtual void	getDDQ (deFloat *v) const =0

virtual void	getDQ (deFloat *v) const =0

virtual void	getQ (deFloat *v) const =0

virtual void	getJgColumns (deVector6 *Jg_columns) const =0

virtual void	addQdelta ()=0

virtual void	addDQdelta ()=0

Public Attributes
std::string	name_

Private Attributes
scl::EJointType	_type

deInt	_clamp_dQ

deFloat	_max_dQ

deFloat	_damping

deFloat	_inertia

taoDVar *	_var

taoJoint *	_next

Detailed Description

Base joint class for articulated body

This provides a joint for articulated body dynamics.

Edited 2013-08-21 : Samir Menon smeno.nosp@m.n@st.nosp@m.anfor.nosp@m.d.ed.nosp@m.u

See Also: taoDJoint

Constructor & Destructor Documentation

taoJoint::~taoJoint ( )

virtual

Edited 2013-08-21 : Samir Menon smeno.nosp@m.n@st.nosp@m.anfor.nosp@m.d.ed.nosp@m.u

Member Function Documentation

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

pure virtual

Note: pointer semantics to support more than one DOF

Implemented in taoJointDOF1, and taoJointSpherical.

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

pure virtual

Note: pointer semantics to support more than one DOF

Implemented in taoJointDOF1, and taoJointSpherical.

virtual void taoJoint::getJgColumns ( deVector6 * Jg_columns ) const

pure virtual

Retrieve the column(s) of the global Jacobian due to this joint. You have to pass in an array of deVector6 instances, the number of instances must be at least getDOF(), and each of them will be filled with the values of Jg_p (upper three entries) and Jg_w (lower three entries).

Note: This method was retrofitted because TAO did not provide a generic method of retrieving the global Jacobian. User were forced to jump through hoops and use dynamic casts, which is error prone and hard to maintain.

Implemented in taoJointDOF1, and taoJointSpherical.

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

pure virtual