ctJoint Class Reference
a joint that links together and constrains the motion of two articulated bodies inboard means articulated body that is closer to the root of the whole outboard is the opposite. More...
#include <joint.h>
Inheritance diagram for ctJoint:
Public Methods | |
| ctJoint () | |
| ctJoint (ctArticulatedBody *in, ctVector3 &in_offset, ctArticulatedBody *out, ctVector3 &out_offset) | |
| virtual void | calc_vw (ctVector3 &v, ctVector3 &w)=0 |
| Add v and w (angular v) of the outboard link, contributed from joints state. | |
| virtual void | calc_coriolus (const ctVector3 &r, const ctVector3 &w_f, ctSpatialVector &c)=0 |
| calc corioulous force generated by this joint. More... | |
| virtual ctSpatialVector | get_spatial_joint_axis ()=0 |
| virtual real | get_actuator_magnitude (real external_f, real inertail_comp) |
| Internal force generated at joint. More... | |
| virtual int | get_state_size () |
| virtual int | set_state (real *sa) |
| virtual int | get_state (const real *sa) |
| virtual int | set_delta_state (real *state_array) |
| void | update_link_RF () |
| Update the body_to_world reference frame of the outboard handle. | |
| ctVector3 | get_r () |
| return vector from inboard center to outboard center in outboard coords. | |
Public Attributes | |
| ctArticulatedBody* | inboard |
| ctVector3 | inboard_offset |
| Offset from center of inboard link to this joint ( at end of inboard link ) in inboard frame. | |
| ctArticulatedBody* | outboard |
| ctVector3 | outboard_offset |
| Points from joint axis to origin of outboard entity in outboard frame (d in Mirtch thesis). | |
| ctVector3 | joint_axis |
| Valid in both in and out frame of reference. | |
| real | q |
| joint position, velocity and acceleration in radians. | |
| real | qv |
| joint position, velocity and acceleration in radians. | |
| real | qa |
| joint position, velocity and acceleration in radians. | |
Static Public Attributes | |
| double | joint_friction |
| static values. | |
Detailed Description
a joint that links together and constrains the motion of two articulated bodies inboard means articulated body that is closer to the root of the whole outboard is the opposite.
Member Function Documentation
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calc corioulous force generated by this joint. Result goes in c r is vector from center of inboard handle to center of outboard handle. w_f is the angular velocity of inboard handle. Reimplemented in ctPrismaticJoint, and ctRevoluteJoint. |
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Internal force generated at joint. can be used to simulate a robotic motor or muscle force on a limb. Reimplemented in ctConstrainedRevoluteJoint. |
The documentation for this class was generated from the following file:
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