101 lines
3.8 KiB
C++
101 lines
3.8 KiB
C++
// -------------------------------------------------------------------------------
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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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// GJointUniversal: class for universal joints (X-Y type)
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//
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// junggon@gmail.com
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//================================================================================
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#ifndef _GEAR_JOINT_UNIVERSAL_
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#define _GEAR_JOINT_UNIVERSAL_
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#include "gcoordinate.h"
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#include "gjoint.h"
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#include "gjoint_composite.h"
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#include "gjoint_revolute.h"
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#include "liegroup.h"
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#include "rmatrix3j.h"
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class GJointUniversalXY;
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class GJointUniversalGeneral;
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typedef GJointUniversalXY GJointUniversal;
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//=============================================================
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// GJointUniversalXY
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//=============================================================
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//
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// T = SE3(R(x,q0) * R(y,q1), Vec3(0,0,0))
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// where q0 = coordinates[0].q and q1 = coordinates[1].q
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//
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class GJointUniversalXY: public GJoint
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{
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public:
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GCoordinate coordinates[2];
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public:
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GJointUniversalXY();
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~GJointUniversalXY() {}
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public:
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void getAxes(Vec3 &axis1_, Vec3 &axis2_); // return the x, y axes w.r.t. {joint left}
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// i.e., axis1_ = (1,0,0), axis2_ = R(x,q0)*Vec3(0,1,0)
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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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RMatrix get_DSDq(GCoordinate *pCoordinate_);
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RMatrix get_DdSDq(GCoordinate *pCoordinate_);
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};
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//=============================================================
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// GJointUniversalGeneral
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//=============================================================
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//
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// T = SE3(R(axis1,q1) * R(axis2,q2), Vec3(0,0,0))
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//
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class GJointUniversalGeneral: public GJointComposite
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{
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public:
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GJointRevolute rjoint1, rjoint2;
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public:
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GJointUniversalGeneral() { rjoint1.setAxis(1,0,0); rjoint2.setAxis(0,1,0); compose(&rjoint1, &rjoint2); jointType = GJOINT_UNIVERSAL_GENERAL; }
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GJointUniversalGeneral(const Vec3 &axis1, const Vec3 &axis2) { rjoint1.setAxis(axis1); rjoint2.setAxis(axis2); compose(&rjoint1, &rjoint2); jointType = GJOINT_UNIVERSAL_GENERAL; }
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~GJointUniversalGeneral() {}
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void setAxes(const Vec3 &axis1, const Vec3 &axis2) { rjoint1.setAxis(axis1); rjoint2.setAxis(axis2); }
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void getAxes(Vec3 &axis1, Vec3 &axis2) { axis1 = rjoint1.getAxis(); axis2 = rjoint2.getAxis(); }
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};
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#endif
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