vpBJoint Class Reference

Ball and socket joint class. More...

#include <vpBJoint.h>

Inheritance diagram for vpBJoint:

List of all members.

Public Member Functions
void	SetOrientation (const SE3 &)
void	SetVelocity (const Vec3 &)
void	SetAcceleration (const Vec3 &)
void	SetInitialOrientation (const SE3 &)
void	SetElasticity (const SpatialSpring &)
void	SetDamping (const SpatialDamper &)
void	SetTorque (const Vec3 &)
SE3	GetOrientation (void) const
Vec3	GetVelocity (void) const
Vec3	GetTorque (void) const
virtual int	GetDOF (void) const
virtual scalar	GetNormalForce (void) const
virtual scalar	GetNormalTorque (void) const

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Detailed Description

vpBJoint is a class to model a ball and socekt joint.

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Member Function Documentation

VP_INLINE void vpBJoint::SetOrientation

(

const SE3 &

T

)

set a joint angle of the idx-th joint variable.

VP_INLINE void vpBJoint::SetVelocity

(

const Vec3 &

V

)

set a angular velocity of the joint frame which is represented in a local frame.

VP_INLINE void vpBJoint::SetAcceleration

(

const Vec3 &

DV

)

set a angular acceleration of the joint frame which is represented in a local frame.

VP_INLINE void vpBJoint::SetInitialOrientation

(

const SE3 &

T

)

set an initial orientation of the joint frame.

VP_INLINE void vpBJoint::SetElasticity

(

const SpatialSpring &

K

)

set an elasticity of the joint frame.

VP_INLINE void vpBJoint::SetDamping

(

const SpatialDamper &

C

)

set a damping parameter of the joint frame.

VP_INLINE void vpBJoint::SetTorque

(

const Vec3 &

_m

)

set a torque applied to the joint which is represented in a local frame.

VP_INLINE SE3 vpBJoint::GetOrientation

(

void

)

const

get an orientation of the joint frame.

VP_INLINE Vec3 vpBJoint::GetVelocity

(

void

)

const

get a angular velocity of the joint frame which is represented in a local frame.

VP_INLINE Vec3 vpBJoint::GetTorque

(

void

)

const

get a torque applied to the joint which is represented in a local frame.

VP_INLINE int vpBJoint::GetDOF

(

void

)

const [virtual]

return the degrees of freedom.

Implements vpJoint.

VP_INLINE scalar vpBJoint::GetNormalForce

(

void

)

const [virtual]

get a magnitude of normal force applied to the joint.

Implements vpJoint.

VP_INLINE scalar vpBJoint::GetNormalTorque

(

void

)

const [virtual]

get a magnitude of normal torque applied to the joint.

Implements vpJoint.