Articulated body joint classThis class provides joint for articulated body. More...

#include <taoABJoint.h>

Inheritance diagram for taoABJoint:

Collaboration diagram for taoABJoint:

Public Member Functions
	taoABJoint (taoDJoint *joint=NULL)

virtual deVector6 &	C ()

virtual deVector6 &	Pa ()

virtual deTransform &	localX ()

virtual deMatrix6 &	L ()

virtual void	update_localX (const deTransform &home, const deFrame &localFrame)=0

virtual void	plusEq_SdQ (deVector6 &V)=0

virtual void	plusEq_V_X_SdQ (deVector6 &C, const deVector6 &V)=0

virtual void	compute_Dinv_and_SbarT (const deMatrix6 &Ia)=0

virtual void	minusEq_X_SbarT_St (deMatrix6 &L, const deTransform &localX)=0

virtual void	plusEq_X_SbarT_Tau (deVector6 &Pah, const deTransform &localX)=0

virtual void	compute_ddQ (const deVector6 &Pa, const deVector6 &XAh_C)=0

virtual void	compute_ddQ_zeroTau (const deVector6 &Pa, const deVector6 &XAh_C)=0

virtual void	compute_ddQ_zeroTauPa (const deVector6 &XAh_C)=0

virtual void	compute_Tau (const deVector6 &F)=0

virtual void	plusEq_SddQ (deVector6 &A)=0

virtual void	minusEq_SdQ_damping (deVector6 &B, const deMatrix6 &Ia)=0

virtual void	plusEq_S_Dinv_St (deMatrix6 &Omega)=0

virtual void	compute_Jg (const deTransform &globalX)=0

virtual void	plusEq_Jg_ddQ (deVector6 &Ag)=0

virtual void	add2Tau_JgT_F (const deVector6 &Fg)=0

virtual void	plusEq_S_inertia_ddQ (deVector6 &F, const deVector6 &A)=0

virtual deFloat	getDamping ()

virtual deFloat	getInertia ()

virtual taoDVar *	getDVar ()

virtual void	zeroTau ()

virtual void	addDQdelta ()

virtual void	addQdelta ()

Detailed Description

Articulated body joint class

This class provides joint for articulated body.

The documentation for this class was generated from the following file:

Public Member Functions