vpJoint Class Reference

Abstract class for joint. More...

#include <vpJoint.h>

Inheritance diagram for vpJoint:

List of all members.

Public Member Functions
void	Break (void)
virtual int	GetDOF (void) const =0
const scalar &	GetMaxNormalForce (void) const
void	SetMaxNormalForce (const scalar &)
const scalar &	GetMaxNormalTorque (void) const
void	SetMaxNormalTorque (const scalar &)
virtual scalar	GetNormalForce (void) const =0
virtual scalar	GetNormalTorque (void) const =0
void	RespectAcceleration (void)

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Detailed Description

vpJoint is an abstract class to connect two adjacent bodies.

See also:

vpRJoint vpPJoint vpUJoint vpSJoint vpWJoint

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Member Function Documentation

void vpJoint::Break

(

void

)

break the joint.

virtual int vpJoint::GetDOF

(

void

)

const [pure virtual]

return the degrees of freedom.

Implemented in vp1DOFJoint, vpBJoint, vpNDOFJoint, vpPJoint, vpRJoint, vpSJoint, vpUJoint, and vpWJoint.

VP_INLINE const scalar & vpJoint::GetMaxNormalForce

(

void

)

const

get the maximum magnitude of normal force that can break the joint.

VP_INLINE void vpJoint::SetMaxNormalForce

(

const scalar &

max_force

)

set the maximum magnitude of normal force that can break the joint.

VP_INLINE const scalar & vpJoint::GetMaxNormalTorque

(

void

)

const

get the maximum magnitude of normal torque that can break the joint.

VP_INLINE void vpJoint::SetMaxNormalTorque

(

const scalar &

max_torque

)

set the maximum magnitude of normal torque that can break the joint.

virtual scalar vpJoint::GetNormalForce

(

void

)

const [pure virtual]

get a magnitude of normal force applied to the joint.

Implemented in vp1DOFJoint, vpBJoint, vpNDOFJoint, vpPJoint, vpRJoint, vpSJoint, vpUJoint, and vpWJoint.

virtual scalar vpJoint::GetNormalTorque

(

void

)

const [pure virtual]

get a magnitude of normal torque applied to the joint.

Implemented in vp1DOFJoint, vpBJoint, vpNDOFJoint, vpPJoint, vpRJoint, vpSJoint, vpUJoint, and vpWJoint.

VP_INLINE void vpJoint::RespectAcceleration

(

void

)

set whether hybrid dynamics respects acceleration or torque