#include <IMP/kinematics/revolute_joints.h>

Inheritance diagram for IMP::kinematics::RevoluteJoint:

Public Member Functions
	RevoluteJoint (IMP::core::RigidBody parent, IMP::core::RigidBody child)

double	get_angle () const

void	set_angle (double angle)

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

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

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

virtual void	do_destroy ()

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 double	get_current_angle_from_cartesian_witnesses () const =0

const IMP::algebra::Vector3D &	get_rot_axis_origin () const

const IMP::algebra::Vector3D &	get_rot_axis_unit_vector () const

IMP::algebra::Transformation3D	get_rotation_about_joint_in_parent_coordinates () const

virtual void	update_axis_of_rotation_from_cartesian_witnesses ()=0

virtual void	update_child_node_reference_frame () const

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::base::Object
	Object (std::string name)
	Construct an object with the given name. More...

Protected Attributes
double	angle_

double	last_updated_angle_

IMP::algebra::Vector3D	rot_axis_origin_

IMP::algebra::Vector3D	rot_axis_unit_vector_

Detailed Description

Abstract class for all revolute joints

Definition at line 48 of file revolute_joints.h.

Constructor & Destructor Documentation

IMP::kinematics::RevoluteJoint::RevoluteJoint	(	IMP::core::RigidBody	parent,
		IMP::core::RigidBody	child
	)

constructs a revolute joint on the line connecting a and b, with an initial angle 'angle'

Parameters

parent,child kinematic nodes upstream and downstream (resp.) of this joint

Member Function Documentation

double IMP::kinematics::RevoluteJoint::get_angle ( ) const

gets the angle of the revolute joint. This method is kinematically safe (it triggers an update to internal coordinates if needed)

virtual double IMP::kinematics::RevoluteJoint::get_current_angle_from_cartesian_witnesses ( ) const

protectedpure virtual

this protected method uses the cartesian witnesses to compute the actual current angle of this joint (assuming external coordinates of required cartesian witnesses are up to date).

Note: this method does not update the angle stored in this joint, which may be strictly different (if external or internal coords are outdated)

Implemented in IMP::kinematics::BondAngleRevoluteJoint, and IMP::kinematics::DihedralAngleRevoluteJoint.

IMP::algebra::Transformation3D IMP::kinematics::RevoluteJoint::get_rotation_about_joint_in_parent_coordinates ( ) const

protected

Returns the transformation matrix for rotating a vector in parent coordinates about the axis of the joint, in a way that would bring the cartesian witnesses to the correct joint angle (as measured by get_angle_from_cartesian_witnesses() ).

Definition at line 136 of file revolute_joints.h.

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void IMP::kinematics::RevoluteJoint::set_angle ( double angle )

sets the angle of the revolute joint and marks the internal coordinates as changed in the kinematic forest object

virtual void IMP::kinematics::RevoluteJoint::update_axis_of_rotation_from_cartesian_witnesses ( )

protectedpure virtual

this protected method updates the rot_axis_unit_vector_ and rot_axis_origin_ variables based on the cartesian witnesses appropriate for a specific implementation of this abstract class, using parent coordinates, assuming all caresian witnesses are updated

Implemented in IMP::kinematics::BondAngleRevoluteJoint, and IMP::kinematics::DihedralAngleRevoluteJoint.

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

protectedvirtual

Updates the reference frame of the child node by this joint angle, assuming the parent reference frame and the witnesses that affect update_axis_of_rotation_from_cartesian_witnesses() are all updated already

Reimplemented from IMP::kinematics::Joint.

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

protectedvirtual

Update the joint internal parameters based on external reference frames of witnesses and rigid bodies, assuming external parameters are updated

Reimplemented from IMP::kinematics::Joint.

Definition at line 122 of file revolute_joints.h.

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

revolute_joints.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation