73 lines
2.6 KiB
C
73 lines
2.6 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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// GJointPlanar: class for planar joints (2-DOF translational joints on X-Y plane)
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//
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// junggon@gmail.com
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//================================================================================
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#ifndef _GEAR_JOINT_PLANAR_
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#define _GEAR_JOINT_PLANAR_
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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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// GJointPlanar
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//=============================================================
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//
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// T = SE3(SO3(), Vec3(q0,q1,0))
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// where q0 = coordinates[0].q and q1 = coordinates[1].q
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//
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class GJointPlanar: public GJoint
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{
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public:
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GCoordinate coordinates[2]; // built-in coordinates
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public:
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GJointPlanar();
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~GJointPlanar() {}
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public:
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bool isConstantScrew() { return true; }
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void update_short();
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void update();
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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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