taoABJointDOF1 Class Reference

Inheritance diagram for taoABJointDOF1:

Collaboration diagram for taoABJointDOF1:

Public Member Functions
	taoABJointDOF1 (taoDJoint *joint)
virtual void	update_localX (const deTransform &home, const deFrame &localFrame)
virtual void	plusEq_SdQ (deVector6 &V)
virtual void	plusEq_V_X_SdQ (deVector6 &C, const deVector6 &V)
virtual void	compute_Dinv_and_SbarT (const deMatrix6 &Ia)
virtual void	minusEq_X_SbarT_St (deMatrix6 &L, const deTransform &localX)
virtual void	plusEq_X_SbarT_Tau (deVector6 &Pah, const deTransform &localX)
virtual void	compute_ddQ (const deVector6 &Pa, const deVector6 &XAh_C)
virtual void	compute_ddQ_zeroTau (const deVector6 &Pa, const deVector6 &XAh_C)
virtual void	compute_ddQ_zeroTauPa (const deVector6 &XAh_C)
virtual void	compute_Tau (const deVector6 &F)
virtual void	plusEq_SddQ (deVector6 &A)
virtual void	minusEq_SdQ_damping (deVector6 &B, const deMatrix6 &Ia)
virtual void	plusEq_S_Dinv_St (deMatrix6 &Omega)
virtual void	compute_Jg (const deTransform &globalX)
virtual void	plusEq_Jg_ddQ (deVector6 &Ag)
virtual void	add2Tau_JgT_F (const deVector6 &Fg)
virtual void	plusEq_S_inertia_ddQ (deVector6 &F, const deVector6 &A)
virtual taoVarDOF1 *	getVarDOF1 ()
virtual deVector6 &	S ()
virtual deVector6 &	Jg ()
virtual deVector6 &	C ()
virtual deVector6 &	Pa ()
virtual deTransform &	localX ()
virtual deMatrix6 &	L ()
virtual deFloat	getDamping ()
virtual deFloat	getInertia ()
virtual taoDVar *	getDVar ()
virtual void	zeroTau ()
virtual void	addDQdelta ()
virtual void	addQdelta ()

Private Attributes
deVector6	_S
deVector6	_SbarT
deFloat	_Dinv
deVector6	_Jg

Member Function Documentation

void taoABJointDOF1::update_localX ( const deTransform &  home, const deFrame &  localFrame  )

virtual

Edited 2013-08-21 : Samir Menon smeno.nosp@m.n@st.nosp@m.anfor.nosp@m.d.ed.nosp@m.u

Implements taoABJoint.

Member Data Documentation

deVector6 taoABJointDOF1::_Jg

private

The Jacobian column vector corresponding to this joint

deVector6 taoABJointDOF1::_S

private

_S is a selection matrix that consists of a translation and a rotation part. All zeros except the axes moved by this joint. Ie. px : _S[0][0] = 1; // All other entries are zero rz : _S[1][2] = 1; // All other entries are zero

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

• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoABJoint.h
• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoABJoint.cpp