vpUJoint Class Reference

Universal joint class. More...

#include <vpUJoint.h>

Inheritance diagram for vpUJoint:

List of all members.

Public Member Functions
void	SetAxis (int idx, const Vec3 &axis)
void	SetAngle (int idx, const scalar &theta)
void	SetVelocity (int idx, const scalar &omega)
void	SetAcceleration (int idx, const scalar &alpha)
void	SetTorque (int idx, const scalar &tau)
void	AddTorque (int idx, const scalar &tau)
void	SetInitialAngle (int idx, const scalar &theta_i)
void	SetElasticity (int idx, const scalar &k)
void	SetUpperLimit (int idx, const scalar &)
void	SetLowerLimit (int idx, const scalar &)
void	SetDamping (int idx, const scalar &c)
void	SetRestitution (int idx, const scalar &)
Vec3	GetAxis (int idx) const
scalar	GetAngle (int idx) const
scalar	GetVelocity (int idx) const
scalar	GetAcceleration (int idx) const
scalar	GetTorque (int idx) const
scalar	GetInitialAngle (int idx) const
scalar	GetElasticity (int idx) const
scalar	GetDamping (int idx) const
scalar	GetUpperLimit (int idx) const
scalar	GetLowerLimit (int idx) const
void	DisableUpperLimit (int idx)
void	DisableLowerLimit (int idx)
bool	IsEnabledUpperLimit (int) const
bool	IsEnabledLowerLimit (int) const
virtual int	GetDOF (void) const
virtual scalar	GetNormalForce (void) const
virtual scalar	GetNormalTorque (void) const

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Detailed Description

vpUJoint is a class to model a universal joint.

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Member Function Documentation

VP_INLINE void vpUJoint::SetAxis	(	int	idx,
		const Vec3 &	axis
	)

set a rotational axis of the idx-th joint variable.

Parameters:

idx

joint variable index. Universal joint is a 2 dof joint. Hence the index should be 0 or 1. The axis is Vec3(1, 0, 0) for the 0-th joint variable and (0, 1, 0) for the 1-th joint variable by default.

VP_INLINE void vpUJoint::SetAngle	(	int	idx,
		const scalar &	theta
	)

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

VP_INLINE void vpUJoint::SetVelocity	(	int	idx,
		const scalar &	omega
	)

set an angular velocity of the idx-th joint variable.

VP_INLINE void vpUJoint::SetAcceleration	(	int	idx,
		const scalar &	alpha
	)

set an angualr acceleration of the idx-th joint variable.

VP_INLINE void vpUJoint::SetTorque	(	int	idx,
		const scalar &	tau
	)

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

VP_INLINE void vpUJoint::AddTorque	(	int	idx,
		const scalar &	tau
	)

add a joint torque to the idx-th joint variable.

VP_INLINE void vpUJoint::SetInitialAngle	(	int	idx,
		const scalar &	theta_i
	)

set an intial angle of the idx-th joint variable.

VP_INLINE void vpUJoint::SetElasticity	(	int	idx,
		const scalar &	k
	)

set an elasticity of the idx-th joint variable.

VP_INLINE void vpUJoint::SetUpperLimit	(	int	idx,
		const scalar &	x
	)

set an upper joint limit.

VP_INLINE void vpUJoint::SetLowerLimit	(	int	idx,
		const scalar &	x
	)

set an lower joint limit.

VP_INLINE void vpUJoint::SetDamping	(	int	idx,
		const scalar &	c
	)

set a damping parameter of the idx-th joint variable.

VP_INLINE void vpUJoint::SetRestitution	(	int	idx,
		const scalar &	e
	)

set a restitution.

VP_INLINE Vec3 vpUJoint::GetAxis

(

int

idx

)

const

get a rotation axis of the idx-th joint variable.

VP_INLINE scalar vpUJoint::GetAngle

(

int

idx

)

const

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

VP_INLINE scalar vpUJoint::GetVelocity

(

int

idx

)

const

get an angular velocity of the idx-th joint variable.

VP_INLINE scalar vpUJoint::GetAcceleration

(

int

idx

)

const

get an angular acceleration of the idx-th joint variable.

VP_INLINE scalar vpUJoint::GetTorque

(

int

idx

)

const

get a joint torque of the idx-th joint variable.

VP_INLINE scalar vpUJoint::GetInitialAngle

(

int

idx

)

const

get an intial joint angle of the idx-th joint variable.

VP_INLINE scalar vpUJoint::GetElasticity

(

int

idx

)

const

get an elasticity of the idx-th joint variable.

VP_INLINE scalar vpUJoint::GetDamping

(

int

idx

)

const

get a damping parameter of the idx-th joint variable.

VP_INLINE scalar vpUJoint::GetUpperLimit

(

int

idx

)

const

get a upper limit

VP_INLINE scalar vpUJoint::GetLowerLimit

(

int

idx

)

const

get a lower limit

VP_INLINE void vpUJoint::DisableUpperLimit

(

int

idx

)

disable upper limit of the idx th joint angle.

VP_INLINE void vpUJoint::DisableLowerLimit

(

int

idx

)

disable lower limit of the idx th joint angle.

VP_INLINE bool vpUJoint::IsEnabledUpperLimit

(

int

idx

)

const

return whether this joint is set to have upper limit

VP_INLINE bool vpUJoint::IsEnabledLowerLimit

(

int

idx

)

const

return whether this joint is set to have lower limit

VP_INLINE int vpUJoint::GetDOF

(

void

)

const [virtual]

return the degrees of freedom.

Implements vpJoint.

VP_INLINE scalar vpUJoint::GetNormalForce

(

void

)

const [virtual]

get a magnitude of normal force applied to the joint.

Implements vpJoint.

VP_INLINE scalar vpUJoint::GetNormalTorque

(

void

)

const [virtual]

get a magnitude of normal torque applied to the joint.

Implements vpJoint.