IMP::kinematics::Joint Class Reference

Base class for joints between rigid bodies in a kinematic tree. More...

#include <IMP/kinematics/Joint.h>

Inheritance diagram for IMP::kinematics::Joint:

Detailed Description

Base class for joints between rigid bodies in a kinematic tree.

Definition at line 30 of file Joint.h.

Public Member Functions
	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 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)
virtual void	update_child_node_reference_frame () const
virtual void	update_joint_from_cartesian_witnesses ()
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::Joint::Joint	(	IMP::core::RigidBody	parent,
		IMP::core::RigidBody	child
	)

Constructor.

Parameters

parent	rigid body upstream of this joint
child	rigid body downstream of this joint

Note

we currently assume that a parent cannot be switched

Member Function Documentation

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

virtual

returns the transformation of a vector from the child reference frame to the parent reference frame in a safe way (= after updating internal coordinates if needed)

virtual const IMP::algebra::Transformation3D& IMP::kinematics::Joint::get_transformation_child_to_parent_no_checks ( ) const

protectedvirtual

returns the transformation of a vector from the child reference frame to the parent reference frame, without any checks (= without updating internal coordinates even if needed)

Definition at line 75 of file Joint.h.

virtual ::IMP::VersionInfo IMP::kinematics::Joint::get_version_info ( ) const

virtual

Get information about the module and version of the object.

Reimplemented from IMP::Object.

Definition at line 34 of file Joint.h.

void IMP::kinematics::Joint::set_owner_kf ( KinematicForest *  kf )

protected

this sets the kinematic forest that manages this joint, and also declares it as used (

See Also

Object::set_was_used()

Definition at line 85 of file Joint.h.

Here is the call graph for this function:

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

protected

Sets the transformation from parent to child reference frame (without any checks that internal coords are updated, and without marking the owner internal coords as changed)

Definition at line 95 of file Joint.h.

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

protectedvirtual

Updates the reference frame of the rigid body directly downstream of this joint

Reimplemented in IMP::kinematics::CompositeJoint, and IMP::kinematics::RevoluteJoint.

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

protectedvirtual

Updates the joint transformation based on external coordinates of 'witness' particles.

Note

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

Witness particles do not necessarily belong to the child or parent rigid bodes.

Reimplemented in IMP::kinematics::RevoluteJoint, IMP::kinematics::CompositeJoint, and IMP::kinematics::PrismaticJoint.

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

• Joint.h