IMP  2.3.1
The Integrative Modeling Platform
IMP::kinematics Namespace Reference

Functionality for dealing with kinematic mechanical structures. More...

Detailed Description

Functionality for dealing with kinematic mechanical structures.

Tools for handling the associated internal coordinates system are also provided.

Please note that this module is still at an experimental testing phase and should be used with caution.

Overview

This module provides a variety of functionality for defining and controlling kinematic structures (chains, trees and forests) over sets of rigid body particles. The IMP::kinematics::KinematicForest data structure provides the high-level interface to define the kinematic structure over a set of particles and to control their associated internal coordinates system. The basic building block of a kinematic structures is a kinematic joint (also known in the literature as a 'kinematic pair'), represented in the abstract class IMP::kinematics::Joint. A kinematic joint connects a pair of rigid bodies. See Wikipedia for some background theory about kinematic joints. The kinematics module supports differnt types of joints (prismatic / revolute / etc.) that differ in the constraints on the degrees of freedom of the joint. For instance, a prismatic joint or a slider (IMP::kinematics::PrismaticJoint) allows the two rigid bodies to slide along a shared axis among them (one degree of freedom), whereas a revolute joint (IMP::kinematics::RevoluteJoints) allows only rotation about the shared axis (one degree of freedom). The library also containes composite joints (IMP::kinematics::CompositeJoint) which allows composing several joints over the same pair of rigid bodies.

Conventions

The name "Joint" is used to refer to a kinematic pair between two rigid bodies.

Info

Author(s): Dina Schneidman, Barak Raveh

Maintainer: duhovka, barakr

License: LGPL. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

Classes

class  BondAngleRevoluteJoint
 
class  CompositeJoint
 
class  DihedralAngleRevoluteJoint
 
class  DOF
 
class  DOFsSampler
 
class  Joint
 
class  KinematicForest
 
class  KinematicForestScoreState
 
class  KinematicNode
 
class  LocalPlanner
 
class  PathLocalPlanner
 
class  PrismaticJoint
 
class  ProteinKinematics
 
class  RevoluteJoint
 
class  RRT
 
class  TransformationJoint
 
class  UniformBackboneSampler
 

Typedefs

typedef IMP::base::Vector
< IMP::base::Pointer
< BondAngleRevoluteJoint > > 
BondAngleRevolteJoints
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< BondAngleRevoluteJoint > > 
BondAngleRevolteJointsTemp
 
typedef IMP::base::Vector
< IMP::base::Pointer
< CompositeJoint > > 
CompositeJoints
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< CompositeJoint > > 
CompositeJointsTemp
 
typedef IMP::base::Vector
< IMP::base::Pointer
< DihedralAngleRevoluteJoint > > 
DihedralAngleRevoluteJoints
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< DihedralAngleRevoluteJoint > > 
DihedralAngleRevoluteJointsTemp
 
typedef IMP::base::Vector
< DirectionalDOF > 
DirectionalDOFs
 
typedef IMP::base::Vector
< IMP::base::Pointer< DOF > > 
DOFs
 
typedef IMP::base::Vector
< IMP::base::Pointer
< DOFsSampler > > 
DOFsSamplers
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< DOFsSampler > > 
DOFsSamplersTemp
 
typedef IMP::base::Vector
< IMP::base::WeakPointer< DOF > > 
DOFsTemp
 
typedef IMP::base::Vector
< DOFValues > 
DOFValuesList
 
typedef boost::adjacency_list
< boost::vecS, boost::vecS,
boost::undirectedS,
boost::no_property,
boost::property
< boost::edge_color_t,
boost::default_color_type > > 
Graph
 
typedef IMP::base::Vector
< IMP::base::Pointer< Joint > > 
Joints
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< Joint > > 
JointsTemp
 
typedef IMP::base::Vector
< IMP::base::Pointer
< KinematicForest > > 
KinematicForests
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< KinematicForest > > 
KinematicForestsTemp
 
typedef IMP::base::Vector
< KinematicNode
KinematicNodes
 
typedef IMP::base::Vector
< IMP::base::Pointer
< LocalPlanner > > 
LocalPlanners
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< LocalPlanner > > 
LocalPlannersTemp
 
typedef IMP::base::Vector
< IMP::base::Pointer
< PathLocalPlanner > > 
PathLocalPlanners
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< PathLocalPlanner > > 
PathLocalPlannersTemp
 
typedef IMP::base::Vector
< IMP::base::Pointer
< PrismaticJoint > > 
PrismaticJoints
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< PrismaticJoint > > 
PrismaticJointsTemp
 
typedef IMP::base::Vector
< IMP::base::Pointer
< RevoluteJoint > > 
RevoluteJoints
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< RevoluteJoint > > 
RevoluteJointsTemp
 
typedef IMP::base::Vector
< IMP::base::Pointer
< TransformationJoint > > 
TransformationJoints
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< TransformationJoint > > 
TransformationJointsTemp
 
typedef IMP::base::Vector
< IMP::base::Pointer
< UniformBackboneSampler > > 
UniformBackboneSamplers
 
typedef IMP::base::Vector
< IMP::base::WeakPointer
< UniformBackboneSampler > > 
UniformBackboneSamplersTemp
 

Standard module functions

All IMP modules have a set of standard functions to help get information about the module and about files associated with the module.

std::string get_module_version ()
 
std::string get_module_name ()
 
std::string get_data_path (std::string file_name)
 Return the full path to installed data. More...
 
std::string get_example_path (std::string file_name)
 Return the path to installed example data for this module. More...
 

Typedef Documentation

Store a set of objects.

Definition at line 130 of file CompositeJoint.h.

Pass or store a set of DirectionalDOF .

Definition at line 99 of file directional_DOFs.h.

Store a set of objects.

Definition at line 70 of file DOF.h.

Store a set of objects.

Definition at line 84 of file DOFsSampler.h.

Pass a set of objects.

See Also
DOFsSampler

Definition at line 84 of file DOFsSampler.h.

Pass a set of objects.

See Also
DOF

Definition at line 70 of file DOF.h.

Pass or store a set of DOFValues .

Definition at line 66 of file DOFValues.h.

Store a set of objects.

Definition at line 130 of file Joint.h.

Pass a set of objects.

See Also
Joint

Definition at line 130 of file Joint.h.

Store a set of objects.

Definition at line 272 of file KinematicForest.h.

Store a set of objects.

Definition at line 83 of file local_planners.h.

Pass a set of objects.

See Also
LocalPlanner

Definition at line 83 of file local_planners.h.

Store a set of objects.

Definition at line 83 of file local_planners.h.

Store a set of objects.

Definition at line 85 of file PrismaticJoint.h.

Store a set of objects.

Definition at line 305 of file revolute_joints.h.

Pass a set of objects.

See Also
RevoluteJoint

Definition at line 305 of file revolute_joints.h.

Function Documentation

std::string IMP::kinematics::get_data_path ( std::string  file_name)

Return the full path to installed data.

Each module has its own data directory, so be sure to use the version of this function in the correct module. To read the data file "data_library" that was placed in the data directory of module "mymodule", do something like

std::ifstream in(IMP::mymodule::get_data_path("data_library"));

This will ensure that the code works when IMP is installed or used via the setup_environment.sh script.

std::string IMP::kinematics::get_example_path ( std::string  file_name)

Return the path to installed example data for this module.

Each module has its own example directory, so be sure to use the version of this function in the correct module. For example to read the file example_protein.pdb located in the examples directory of the IMP::atom module, do

model));

This will ensure that the code works when IMP is installed or used via the setup_environment.sh script.