forked from lijiext/lammps
47 lines
1.7 KiB
C
47 lines
1.7 KiB
C
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/*
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*_________________________________________________________________________*
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* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
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* DESCRIPTION: SEE READ-ME *
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* FILE NAME: mixedjoint.h *
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* AUTHORS: See Author List *
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* GRANTS: See Grants List *
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* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
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* LICENSE: Please see License Agreement *
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* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
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* ADMINISTRATOR: Prof. Kurt Anderson *
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* Computational Dynamics Lab *
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* Rensselaer Polytechnic Institute *
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* 110 8th St. Troy NY 12180 *
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* CONTACT: anderk5@rpi.edu *
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*_________________________________________________________________________*/
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#ifndef MIXEDJOINT_H
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#define MIXEDJOINT_H
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#include "joint.h"
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class MixedJoint : public Joint{
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Matrix const_sP;
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int numrots;
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int numtrans;
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Vect6 dofs;
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public:
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MixedJoint();
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~MixedJoint();
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JointType GetType();
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bool ReadInJointData(std::istream& in);
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void WriteOutJointData(std::ostream& out);
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void ComputeLocalTransform();
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void SetsP(Matrix& sPr, Vect6& temp_dofs, int i, int j);
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Matrix GetForward_sP();
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Matrix GetBackward_sP();
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void UpdateForward_sP( Matrix& sP);
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void UpdateBackward_sP( Matrix& sP);
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void ForwardKinematics();
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void BackwardKinematics();
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};
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#endif
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