82 lines
3.2 KiB
C
82 lines
3.2 KiB
C
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// -------------------------------------------------------------------------------
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// Copyright (c) 2012, Junggon Kim
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// 1. Redistributions of source code must retain the above copyright notice, this
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// list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// -------------------------------------------------------------------------------
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//================================================================================
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// GJointComposite: class for composite-type joints
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//
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// junggon@gmail.com
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//================================================================================
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#ifndef _GEAR_JOINT_COMPOSITE_
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#define _GEAR_JOINT_COMPOSITE_
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#include "gjoint.h"
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#include "gcoordinate.h"
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#include "liegroup.h"
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#include "rmatrix3j.h"
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//=============================================================
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// GJointComposite
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//=============================================================
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//
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// T = pJoint1->T * pJoint2->T
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//
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// ** Computational speed of GJointComposite may be slower than that of an optimized single joint implementation.
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// For e.g., a spherical joint can be implemented by GJointComposite(GJointComposite(GJointRevolute, GJointRevolute), GJointRevolute),
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// and the calculation speed for update() is more than two times slower than that of GJointSpherical.
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//
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class GJointComposite: public GJoint
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{
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public:
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GJoint *pJoint1, *pJoint2;
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public:
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GJointComposite();
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GJointComposite(GJoint *pjoint1_, GJoint *pjoint2_);
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~GJointComposite() {}
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public:
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bool compose(GJoint *pjoint1_, GJoint *pjoint2_); // compose two joints to make a composite joint
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public:
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bool isConstantScrew() { return false; }
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void update_short();
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void update();
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void _update_short_for_reversed_joint(); // modify T, inv_T, S for reversed joint
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void _update_for_reversed_joint(); // modify T, inv_T, S, dS, Sdq, dSdq, Sddq, DSdqDt for reversed joint
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RMatrix get_DSDq(GCoordinate *pCoordinate_);
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RMatrix get_DdSDq(GCoordinate *pCoordinate_);
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};
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#endif
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