11 #ifndef IMPKINEMATICS_JOINT_H
12 #define IMPKINEMATICS_JOINT_H
14 #include <IMP/kinematics/kinematics_config.h>
19 #include <IMP/core/internal/dihedral_helpers.h>
24 IMPKINEMATICS_BEGIN_NAMESPACE
26 class KinematicForest;
58 const IMP::algebra::Transformation3D& get_transformation_child_to_parent()
61 IMP::core::RigidBody get_parent_node()
const {
return parent_; }
74 const IMP::algebra::Transformation3D&
75 get_transformation_child_to_parent_no_checks()
const {
76 return tr_child_to_parent_;
97 tr_child_to_parent_ = transformation;
106 virtual void update_child_node_reference_frame()
const;
117 virtual void update_joint_from_cartesian_witnesses();
128 IMPKINEMATICS_END_NAMESPACE
Various general useful macros for IMP.
#define IMP_OBJECT_METHODS(Name)
Define the basic things needed by any Object.
Exception definitions and assertions.
Common base class for heavy weight IMP objects.
functionality for defining nodes on a kinematic chain
#define IMP_NO_SWIG(x)
Hide the line when SWIG is compiled or parses it.
void set_transformation_child_to_parent_no_checks(IMP::algebra::Transformation3D transformation)
#define IMP_OBJECTS(Name, PluralName)
Define the types for storing lists of object pointers.
void set_owner_kf(KinematicForest *kf)
Exception definitions and assertions.
Base class for joints between rigid bodies in a kinematic tree.
A shared base class to help in debugging and things.
Joint that combines several inner joints, acting on the same rigid body pair.
A decorator for a rigid body.
Define and manipulate a kinematic structure over a model.
void set_was_used(bool tf) const