Joint that combines several inner joints, acting on the same rigid body pair. More...

#include <IMP/kinematics/CompositeJoint.h>

Inheritance diagram for IMP::kinematics::CompositeJoint:

Detailed Description

Joint that combines several inner joints, acting on the same rigid body pair.

Definition at line 28 of file CompositeJoint.h.

Public Member Functions
	CompositeJoint (IMP::core::RigidBody parent, IMP::core::RigidBody child, Joints joints=Joints())
	Constructor. More...

void	add_downstream_joint (Joint *j)
	Adds a joint at the end of the list (closest to the child rigid body) More...

void	add_upstream_joint (Joint *j)
	Adds a joint at the front of the list (closest to the parent rigid body) More...

const Joints &	get_inner_joints () const
	Returns the inner joints. More...

Joints &	get_inner_joints ()
	Returns the inner joints. More...

void	set_joints (Joints joints)
	Sets the list of inner joints instead of the existing one. More...

Public Member Functions inherited from IMP::kinematics::Joint
	Joint (IMP::core::RigidBody parent, IMP::core::RigidBody child)
	Constructor. More...

IMP::core::RigidBody	get_child_node () const

KinematicForest *	get_owner_kf () const

IMP::core::RigidBody	get_parent_node () const

virtual const IMP::algebra::Transformation3D &	get_transformation_child_to_parent () const

virtual std::string	get_type_name () const

virtual ::IMP::VersionInfo	get_version_info () const
	Get information about the module and version of the object. More...

Public Member Functions inherited from IMP::Object
virtual void	clear_caches ()

CheckLevel	get_check_level () const

LogLevel	get_log_level () const

void	set_check_level (CheckLevel l)

void	set_log_level (LogLevel l)
	Set the logging level used in this object. More...

void	set_was_used (bool tf) const

void	show (std::ostream &out=std::cout) const

const std::string &	get_name () const

void	set_name (std::string name)

Protected Member Functions
virtual void	update_child_node_reference_frame () const
	Update the child node reference frame by applying all the inner joints. More...

virtual void	update_joint_from_cartesian_witnesses ()

Protected Member Functions inherited from IMP::kinematics::Joint
virtual const IMP::algebra::Transformation3D &	get_transformation_child_to_parent_no_checks () const

void	set_owner_kf (KinematicForest *kf)

void	set_transformation_child_to_parent_no_checks (IMP::algebra::Transformation3D transformation)

Protected Member Functions inherited from IMP::Object
	Object (std::string name)
	Construct an object with the given name. More...

virtual void	do_destroy ()

Constructor & Destructor Documentation

IMP::kinematics::CompositeJoint::CompositeJoint	(	IMP::core::RigidBody	parent,
		IMP::core::RigidBody	child,
		Joints	joints = `Joints()`
	)

Constructor.

Constructs a composite joint between parent and child, with the specified list of inner joints connecting them.

Parameters

	parent	rigid body upstream of this joint
	child	rigid body downstream of this joint
[in]	joints	The list of inner joints connecting the two rigid bodies. These will be applied by their specified order in the list, from the parent rigid body to the child rigid body. It is assumed all these joints share the same parent and child as the composite joint.

Member Function Documentation

void IMP::kinematics::CompositeJoint::add_downstream_joint ( Joint * j )

Adds a joint at the end of the list (closest to the child rigid body)

Note: the joint must have the same parent and child as the composite joint

Definition at line 51 of file CompositeJoint.h.

void IMP::kinematics::CompositeJoint::add_upstream_joint ( Joint * j )

Adds a joint at the front of the list (closest to the parent rigid body)

Note: the joint must have the same parent and child as the composite joint

Definition at line 64 of file CompositeJoint.h.

const Joints& IMP::kinematics::CompositeJoint::get_inner_joints ( ) const

Returns the inner joints.

Returns the list of inner joints, ordered from the parent rigid body downstream to the child rigid body.

Definition at line 88 of file CompositeJoint.h.

Joints& IMP::kinematics::CompositeJoint::get_inner_joints ( )

Returns the inner joints.

Returns the list of inner joints, ordered from the parent rigid body downstream to the child rigid body.

Definition at line 95 of file CompositeJoint.h.

void IMP::kinematics::CompositeJoint::set_joints ( Joints joints )

Sets the list of inner joints instead of the existing one.

Parameters

joints the new joints, ordered from the parent rigid body downstream to the child rigid body.

Note: All joints must have the same parent and child as the composite joint; This invalidates all existing inner joints if any, detaching them from their current KinematicForest owner if it exists.

virtual void IMP::kinematics::CompositeJoint::update_child_node_reference_frame ( ) const

protectedvirtual

Update the child node reference frame by applying all the inner joints.

Reimplemented from IMP::kinematics::Joint.

virtual void IMP::kinematics::CompositeJoint::update_joint_from_cartesian_witnesses ( )

protectedvirtual

Updates all inner joints value, and the overall transformation resulting from their combinations, based on the external coordinates of the witnesses to each of the inner joints.

Note: It is assumed that external coordinates are updated before calling this function.

Reimplemented from IMP::kinematics::Joint.

The documentation for this class was generated from the following file:

CompositeJoint.h

Detailed Description

Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation