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IMP Reference Guide
2.6.1
The Integrative Modeling Platform
IMP Manual
Reference Guide
Modules
Classes
Examples
include
IMP
kinematics
PrismaticJoint.h
Go to the documentation of this file.
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/**
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* \file IMP/kinematics/PrismaticJoint.h
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* \brief a prismatic joint between rigid bodies as part of a kinematic tree
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* \authors Dina Schneidman, Barak Raveh
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*
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* Copyright 2007-2016 IMP Inventors. All rights reserved.
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*/
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#ifndef IMPKINEMATICS_PRISMATIC_JOINT_H
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#define IMPKINEMATICS_PRISMATIC_JOINT_H
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#include "kinematics_config.h"
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#include <
IMP/kinematics/KinematicNode.h
>
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#include <
IMP/kinematics/Joint.h
>
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#include <
IMP/Object.h
>
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#include <
IMP/exception.h
>
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#include <IMP/core/internal/dihedral_helpers.h>
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#include <
IMP/algebra/Vector3D.h
>
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#include <
IMP/check_macros.h
>
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IMPKINEMATICS_BEGIN_NAMESPACE
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/********************** PrismaticJoint ***************/
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/**
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joint in which too rigid bodies may slide along a line
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*/
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class
IMPKINEMATICSEXPORT
PrismaticJoint
:
public
Joint
{
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public
:
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/********* Constructors ********/
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/**
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Create a prismatic joint whose axis of translation is from a
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to b, which serve as witnesses for the joint transformation
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(a is associated with the parent and b with the child)
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*/
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PrismaticJoint
(
IMP::core::RigidBody
parent,
IMP::core::RigidBody
child,
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IMP::core::XYZ
a,
IMP::core::XYZ
b);
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/**
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Create a prismatic joint whose axis of translation is between
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the reference frames of parent and child, who also
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serve as witnesses for the joint transformation
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*/
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PrismaticJoint
(
IMP::core::RigidBody
parent,
IMP::core::RigidBody
child);
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private
:
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public
:
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/************* Public getters / setters *************/
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/**
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gets the length of the prismatic joint, that is the length
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between the two witnesses
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*/
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double
get_length()
const
;
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/**
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sets the length of the prismatic joint to l, that is
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the length between the two witnesses set up upon construction
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(in a lazy fashion, without updating external coords).
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Updates the owner of the change in internal coordinates.
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@note it is assumed that l > 0, and for efficiency, runtime
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checks for this are not made in fast mode
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*/
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void
set_length(
double
l);
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protected
:
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/************ General protected methods *************/
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/**
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Update the length and transformation of the prismatic joint
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based on the distance and relative orientation of the witnesses
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given upon construction.
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@note It is assumed that external coordinates are updated before
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calling this function.
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*/
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virtual
void
update_joint_from_cartesian_witnesses
();
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private
:
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IMP::core::XYZ
a_;
// prismatic joint from point, associated with parent
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IMP::core::XYZ
b_;
// prismatic joint to point, associated with child
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double
l_;
// the length of the prismatic joint
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};
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IMP_OBJECTS
(
PrismaticJoint
,
PrismaticJoints
);
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IMPKINEMATICS_END_NAMESPACE
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#endif
/* IMPKINEMATICS_PRISMATIC_JOINT_H */
exception.h
Exception definitions and assertions.
IMP::Vector
Definition:
Vector.h:42
IMP::kinematics::Joint::update_joint_from_cartesian_witnesses
virtual void update_joint_from_cartesian_witnesses()
Joint.h
functionality for defining a kinematic joint between rigid bodies as part of a kinematic tree ...
KinematicNode.h
functionality for defining nodes on a kinematic chain
IMP::core::XYZ
A decorator for a particle with x,y,z coordinates.
Definition:
XYZ.h:30
IMP_OBJECTS
#define IMP_OBJECTS(Name, PluralName)
Define the types for storing sets of objects.
Definition:
object_macros.h:42
check_macros.h
Exception definitions and assertions.
IMP::kinematics::Joint
Definition:
Joint.h:33
Object.h
A shared base class to help in debugging and things.
Vector3D.h
Simple 3D vector class.
IMP::kinematics::PrismaticJoint
Definition:
PrismaticJoint.h:28
IMP::core::RigidBody
A decorator for a rigid body.
Definition:
rigid_bodies.h:75