#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. | |
|
|
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. |
|
|
Internal force generated at joint. can be used to simulate a robotic motor or muscle force on a limb. Reimplemented in ctConstrainedRevoluteJoint. |