IMP  2.1.0
The Integrative Modeling Platform
TransformationJoint.h
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1 /**
2  * \file kinematics/TransformationJoint.h
3  * \brief a kinematic joints between rigid bodies that allows any
4  * transformation
5  * \authors Dina Schneidman, Barak Raveh
6  *
7 
8  * Copyright 2007-2012 IMP Inventors. All rights reserved.
9  */
10 
11 #ifndef IMPKINEMATICS_TRANSFORMATION_JOINT_H
12 #define IMPKINEMATICS_TRANSFORMATION_JOINT_H
13 
14 #include "kinematics_config.h"
16 #include <IMP/kinematics/Joint.h>
17 #include <IMP/base/Object.h>
18 //#include <IMP/compatibility/nullptr.h>
19 #include <IMP/base/exception.h>
20 #include <IMP/core/internal/dihedral_helpers.h>
21 #include <IMP/algebra/Vector3D.h>
22 #include <IMP/base/check_macros.h>
23 
24 IMPKINEMATICS_BEGIN_NAMESPACE
25 
26 
27 
28 /********************** TransformationJoint ***************/
29 
30 
31 /** A joint with a completely non-constrained transformation
32  between parent and child nodes reference frames
33 */
34 class IMPKINEMATICSEXPORT
35 TransformationJoint : public Joint{
36  public:
38  IMP::core::RigidBody child);
39 
40  /**
41  Sets the transfromation from parent to child reference frame,
42  in a safe way - that is, after updating all intrnal coordinates
43  from external if needed, and marking the owner internal coordinates
44  as changed.
45  */
46  void set_transformation_child_to_parent
47  (IMP::algebra::Transformation3D transformation);
48 
49 
50 };
51 
53 
54 IMPKINEMATICS_END_NAMESPACE
55 
56 #endif /* IMPKINEMATICS_TRANSFORMATION_JOINT_H */
Simple 3D transformation class.
functionality for defining a kinematic joint between rigid bodies as part of a kinematic tree ...
functionality for defining nodes on a kinematic chain
#define IMP_OBJECTS(Name, PluralName)
Define the types for storing sets of objects.
Exception definitions and assertions.
Simple 3D vector class.
Exception definitions and assertions.
A shared base class to help in debugging and things.
A decorator for a rigid body.
Definition: rigid_bodies.h:75