101 lines
3.8 KiB
C
101 lines
3.8 KiB
C
|
// -------------------------------------------------------------------------------
|
||
|
|
// Copyright (c) 2012, Junggon Kim
|
||
|
|
// All rights reserved.
|
||
|
|
//
|
||
|
|
// Redistribution and use in source and binary forms, with or without
|
||
|
|
// modification, are permitted provided that the following conditions are met:
|
||
|
|
//
|
||
|
|
// 1. Redistributions of source code must retain the above copyright notice, this
|
||
|
|
// list of conditions and the following disclaimer.
|
||
|
|
// 2. Redistributions in binary form must reproduce the above copyright notice,
|
||
|
|
// this list of conditions and the following disclaimer in the documentation
|
||
|
|
// and/or other materials provided with the distribution.
|
||
|
|
//
|
||
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||
|
|
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||
|
|
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||
|
|
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
|
||
|
|
// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||
|
|
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||
|
|
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||
|
|
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||
|
|
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
// -------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
//================================================================================
|
||
|
|
// GJointUniversal: class for universal joints (X-Y type)
|
||
|
|
//
|
||
|
|
// junggon@gmail.com
|
||
|
|
//================================================================================
|
||
|
|
|
||
|
|
#ifndef _GEAR_JOINT_UNIVERSAL_
|
||
|
|
#define _GEAR_JOINT_UNIVERSAL_
|
||
|
|
|
||
|
|
#include "gcoordinate.h"
|
||
|
|
#include "gjoint.h"
|
||
|
|
#include "gjoint_composite.h"
|
||
|
|
#include "gjoint_revolute.h"
|
||
|
|
#include "liegroup.h"
|
||
|
|
#include "rmatrix3j.h"
|
||
|
|
|
||
|
|
class GJointUniversalXY;
|
||
|
|
class GJointUniversalGeneral;
|
||
|
|
|
||
|
|
typedef GJointUniversalXY GJointUniversal;
|
||
|
|
|
||
|
|
//=============================================================
|
||
|
|
// GJointUniversalXY
|
||
|
|
//=============================================================
|
||
|
|
//
|
||
|
|
// T = SE3(R(x,q0) * R(y,q1), Vec3(0,0,0))
|
||
|
|
// where q0 = coordinates[0].q and q1 = coordinates[1].q
|
||
|
|
//
|
||
|
|
class GJointUniversalXY: public GJoint
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
GCoordinate coordinates[2];
|
||
|
|
|
||
|
|
public:
|
||
|
|
GJointUniversalXY();
|
||
|
|
~GJointUniversalXY() {}
|
||
|
|
|
||
|
|
public:
|
||
|
|
void getAxes(Vec3 &axis1_, Vec3 &axis2_); // return the x, y axes w.r.t. {joint left}
|
||
|
|
// i.e., axis1_ = (1,0,0), axis2_ = R(x,q0)*Vec3(0,1,0)
|
||
|
|
|
||
|
|
public:
|
||
|
|
bool isConstantScrew() { return false; }
|
||
|
|
|
||
|
|
void update_short();
|
||
|
|
void update();
|
||
|
|
|
||
|
|
RMatrix get_DSDq(GCoordinate *pCoordinate_);
|
||
|
|
RMatrix get_DdSDq(GCoordinate *pCoordinate_);
|
||
|
|
};
|
||
|
|
|
||
|
|
//=============================================================
|
||
|
|
// GJointUniversalGeneral
|
||
|
|
//=============================================================
|
||
|
|
//
|
||
|
|
// T = SE3(R(axis1,q1) * R(axis2,q2), Vec3(0,0,0))
|
||
|
|
//
|
||
|
|
class GJointUniversalGeneral: public GJointComposite
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
GJointRevolute rjoint1, rjoint2;
|
||
|
|
|
||
|
|
public:
|
||
|
|
GJointUniversalGeneral() { rjoint1.setAxis(1,0,0); rjoint2.setAxis(0,1,0); compose(&rjoint1, &rjoint2); jointType = GJOINT_UNIVERSAL_GENERAL; }
|
||
|
|
GJointUniversalGeneral(const Vec3 &axis1, const Vec3 &axis2) { rjoint1.setAxis(axis1); rjoint2.setAxis(axis2); compose(&rjoint1, &rjoint2); jointType = GJOINT_UNIVERSAL_GENERAL; }
|
||
|
|
~GJointUniversalGeneral() {}
|
||
|
|
|
||
|
|
void setAxes(const Vec3 &axis1, const Vec3 &axis2) { rjoint1.setAxis(axis1); rjoint2.setAxis(axis2); }
|
||
|
|
void getAxes(Vec3 &axis1, Vec3 &axis2) { axis1 = rjoint1.getAxis(); axis2 = rjoint2.getAxis(); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|