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.

rrt_sample

Sample protein conformations using rapidly exploring random tree (RRT).

For an example of using the rrt_sample command line tool, see the manual.

Info

Author(s): Dina Schneidman, Barak Raveh, Yannick Spill

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	RevoluteJointMover
	Modify a set of joints using a normal distribution with zero mean and. More...

class	RRT

class	TransformationJoint

class	UniformBackboneSampler

Typedefs
typedef IMP::Vector < IMP::Pointer < BondAngleRevoluteJoint > >	BondAngleRevolteJoints

typedef IMP::Vector < IMP::WeakPointer < BondAngleRevoluteJoint > >	BondAngleRevolteJointsTemp

typedef IMP::Vector < IMP::Pointer< CompositeJoint > >	CompositeJoints

typedef IMP::Vector < IMP::WeakPointer < CompositeJoint > >	CompositeJointsTemp

typedef IMP::Vector < IMP::Pointer < DihedralAngleRevoluteJoint > >	DihedralAngleRevoluteJoints

typedef IMP::Vector < IMP::WeakPointer < DihedralAngleRevoluteJoint > >	DihedralAngleRevoluteJointsTemp

typedef IMP::Vector < DirectionalDOF >	DirectionalDOFs

typedef IMP::Vector < IMP::Pointer< DOF > >	DOFs

typedef IMP::Vector < IMP::Pointer< DOFsSampler > >	DOFsSamplers

typedef IMP::Vector < IMP::WeakPointer < DOFsSampler > >	DOFsSamplersTemp

typedef IMP::Vector < IMP::WeakPointer< DOF > >	DOFsTemp

typedef IMP::Vector< DOFValues >	DOFValuesList

typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::undirectedS >	Graph

typedef IMP::Vector < IMP::Pointer< Joint > >	Joints

typedef IMP::Vector < IMP::WeakPointer< Joint > >	JointsTemp

typedef IMP::Vector < IMP::Pointer < KinematicForest > >	KinematicForests

typedef IMP::Vector < IMP::WeakPointer < KinematicForest > >	KinematicForestsTemp

typedef IMP::Vector < KinematicNode >	KinematicNodes

typedef IMP::Vector < IMP::Pointer< LocalPlanner > >	LocalPlanners

typedef IMP::Vector < IMP::WeakPointer < LocalPlanner > >	LocalPlannersTemp

typedef IMP::Vector < IMP::Pointer < PathLocalPlanner > >	PathLocalPlanners

typedef IMP::Vector < IMP::WeakPointer < PathLocalPlanner > >	PathLocalPlannersTemp

typedef IMP::Vector < IMP::Pointer< PrismaticJoint > >	PrismaticJoints

typedef IMP::Vector < IMP::WeakPointer < PrismaticJoint > >	PrismaticJointsTemp

typedef IMP::Vector < IMP::Pointer< RevoluteJoint > >	RevoluteJoints

typedef IMP::Vector < IMP::WeakPointer < RevoluteJoint > >	RevoluteJointsTemp

typedef IMP::Vector < IMP::Pointer < TransformationJoint > >	TransformationJoints

typedef IMP::Vector < IMP::WeakPointer < TransformationJoint > >	TransformationJointsTemp

typedef IMP::Vector < IMP::Pointer < UniformBackboneSampler > >	UniformBackboneSamplers

typedef IMP::Vector < IMP::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 one of this module's data files. More...

std::string	get_example_path (std::string file_name)
	Return the full path to one of this module's example files. More...