Detailed Description

joint in which too rigid bodies may slide along a line

Definition at line 28 of file PrismaticJoint.h.

Public Member Functions
	PrismaticJoint (IMP::core::RigidBody parent, IMP::core::RigidBody child, IMP::core::XYZ a, IMP::core::XYZ b)

	PrismaticJoint (IMP::core::RigidBody parent, IMP::core::RigidBody child)

double	get_length () const

void	set_length (double l)

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::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_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)

virtual void	update_child_node_reference_frame () const

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::PrismaticJoint::PrismaticJoint	(	IMP::core::RigidBody	parent,
		IMP::core::RigidBody	child,
		IMP::core::XYZ	a,
		IMP::core::XYZ	b
	)

Create a prismatic joint whose axis of translation is from a to b, which serve as witnesses for the joint transformation (a is associated with the parent and b with the child)

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

Create a prismatic joint whose axis of translation is between the reference frames of parent and child, who also serve as witnesses for the joint transformation

Member Function Documentation

double IMP::kinematics::PrismaticJoint::get_length ( ) const

gets the length of the prismatic joint, that is the length between the two witnesses

void IMP::kinematics::PrismaticJoint::set_length ( double l )

sets the length of the prismatic joint to l, that is the length between the two witnesses set up upon construction (in a lazy fashion, without updating external coords). Updates the owner of the change in internal coordinates.

Note: it is assumed that l > 0, and for efficiency, runtime checks for this are not made in fast mode

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

protectedvirtual

Update the length and transformation of the prismatic joint based on the distance and relative orientation of the witnesses given upon construction.

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:

PrismaticJoint.h

Detailed Description

Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation