Spr::PHJointBase Class Reference

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#include <PHJoint.h>

Inherits Spr::UTTreeNode< PHJointBase >, and Spr::SGObject.

Inherited by Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, Spr::PHJointMulti< 3 >, and Spr::PHJointRoot.

Collaboration diagram for Spr::PHJointBase:

[legend]List of all members.

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PHJointHinge: ƒtƒŒ[ƒ€‚ÌZŽ²‚ª‰ñ“]Ž²‚ÌŒü‚«‚ð•\‚·B pRc = pRj * Rot(position, 'z') * cRj.trans() prc = cRp*(-parent->solid->center + prj) - (crj - solid->center)
PHJointSlider: ƒtƒŒ[ƒ€‚ÌZŽ²‚ª’¼“®Ž²‚ÌŒü‚«‚ð•\‚·B pRc = pRj * cRj.trans() prc = cRp*(-parent->solid->center + prj) + cRj*(0,0,position) - (crj - solid->center)
PHJointUniv: ƒtƒŒ[ƒ€‚ÌX,YŽ²‚ªC‘æ1Ž²E‘æ2Ž²‚ð•\‚·D pRc = pRj * Rot(position[0], 'x') * Rot(position[1], 'y') * cRj.trans() prc = cRp*(-parent->solid->center + prj) - (crj - solid->center)
PHJointBall: 3Ž²“®‚D‰Â“®ˆæ‚ÍZŽ²‚ª“®‚”ÍˆÍ‚ð‰~‚ÅŽw’è‚·‚éD pRc = pRj * position * cRj.trans() prc = cRp*(-parent->solid->center + prj) - (crj - solid->center) ˆÈ‰º‚ÌƒRƒƒ“ƒg‚ÅC

Fc := child solid's frame Žq„‘Ì‚ÌÀ•WŒn

Fp := parent solid's frame e„‘Ì‚ÌÀ•WŒn
Fj := joint's frame ƒWƒ‡ƒCƒ“ƒg‚ÌÀ•WŒn(e‘¤Fjp‚ÆŽq‘¤Fjc‚ª‚ ‚é) ‚ðˆÓ–¡‚·‚é

Public Types

enum IntType

Public Member Functions

PHJointBase ()
void Loaded (SGScene *scene)
PHJointBase * Search (PHSolid *)
Affinef GetPostureFromParent ()
Affinef GetPostureFromChild ()
Vec3f GetSolidAngularAccel ()
Vec3f GetSolidAccel ()
Vec3f GetSolidAngularVelocity ()
Vec3f GetSolidVelocity ()
Matrix3d GetOrientation ()
virtual int GetJointDof ()=0
virtual double GetJointPosition (int i)=0
virtual double GetJointVelocity (int i)=0
virtual double GetJointAccel (int i)=0
virtual double GetJointTorque (int i)=0
virtual void SetJointTorque (double v, int i)=0
virtual void AddJointTorque (double v, int i)=0
virtual size_t NChildObjects ()
virtual SGObject * ChildObject (size_t i)
virtual size_t NReferenceObjects ()
virtual SGObject * ReferenceObject (size_t i)
virtual bool AddChildObject (SGObject *o, SGScene *s)
virtual bool DelChildObject (SGObject *o, SGScene *s)
virtual const UTTypeInfo ** ChildCandidates ()

Featherstone's algorithm

void CompCoriolisAccelRecursive (double dt)
virtual void CompArticulatedInertia (double dt)
virtual void Integrate (SGScene *scene)
virtual void CalcAccel (double dt)=0

Public Attributes

Static Public Attributes

static UTTypeInfoImpAbst<
PHJointBase > typeInfo

Protected Member Functions

template<class T> T & OfParent (T PHJointBase::*member)
void PropagateState ()
virtual void Reset ()

Detailed Description

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Definition at line 51 of file PHJoint.h.

Member Enumeration Documentation

enum Spr::PHJointBase::IntType

Ï•ª‚Ì•û–@D Method of solver

Definition at line 61 of file PHJoint.h.

Constructor & Destructor Documentation

Spr::PHJointBase::PHJointBase ( )

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Member Function Documentation

void Spr::PHJointBase::Loaded ( SGScene * scene ) [virtual]

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Reimplemented from Spr::SGObject.
Reimplemented in Spr::PHJointHinge, Spr::PHJointSlider, and Spr::PHJointBall.

PHJointBase* Spr::PHJointBase::Search ( PHSolid * )

Žw’è‚µ‚½PHSolid‚ð¬‚ÉŽ‚Âƒm[ƒh‚ðŒŸõ‚·‚é

Affinef Spr::PHJointBase::GetPostureFromParent ( ) [inline]

e„‘Ì‚ÌƒtƒŒ[ƒ€‚©‚çŒ©‚½ŠÖßŽp¨

Definition at line 122 of file PHJoint.h.

Affinef Spr::PHJointBase::GetPostureFromChild ( ) [inline]

Žq„‘Ì‚ÌƒtƒŒ[ƒ€‚©‚çŒ©‚½ŠÖßŽp¨

Definition at line 124 of file PHJoint.h.
References cRj, and crj.

Vec3f Spr::PHJointBase::GetSolidAngularAccel ( ) [inline]

Žq„‘Ì‚ÌŠp‰Á‘¬“x(WorldŒn)

Definition at line 126 of file PHJoint.h.
References a, and solid.

Vec3f Spr::PHJointBase::GetSolidAccel ( ) [inline]

Žq„‘Ì‚Ì‰Á‘¬“x(WorldŒn)

Definition at line 128 of file PHJoint.h.
References a, and solid.

Vec3f Spr::PHJointBase::GetSolidAngularVelocity ( ) [inline]

Žq„‘Ì‚ÌŠp‰Á‘¬“x(WorldŒn)

Definition at line 130 of file PHJoint.h.
References w_abs.

Vec3f Spr::PHJointBase::GetSolidVelocity ( ) [inline]

Žq„‘Ì‚Ì‰Á‘¬“x(WorldŒn)

Definition at line 132 of file PHJoint.h.
References v_abs.

Matrix3d Spr::PHJointBase::GetOrientation ( ) [inline]

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Definition at line 134 of file PHJoint.h.
References R.

virtual int Spr::PHJointBase::GetJointDof ( ) [pure virtual]

ŠÖß‚ÌŽ©—R“x

Implemented in Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, and Spr::PHJointMulti< 3 >.

virtual double Spr::PHJointBase::GetJointPosition ( int i ) [pure virtual]

ŠÖßˆÊ’u‚ÌŽæ“¾

Implemented in Spr::PHJoint1D, Spr::PHJointBall, and Spr::PHJointUniversal.

virtual double Spr::PHJointBase::GetJointVelocity ( int i ) [pure virtual]

ŠÖß‘¬“x‚ÌŽæ“¾

Implemented in Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, and Spr::PHJointMulti< 3 >.

virtual double Spr::PHJointBase::GetJointAccel ( int i ) [pure virtual]

ŠÖß‰Á‘¬“x‚ÌŽæ“¾

Implemented in Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, and Spr::PHJointMulti< 3 >.

virtual double Spr::PHJointBase::GetJointTorque ( int i ) [pure virtual]

ŠÖßƒgƒ‹ƒN‚ÌŽæ“¾

Implemented in Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, and Spr::PHJointMulti< 3 >.

virtual void Spr::PHJointBase::SetJointTorque ( double v,

int i

) [pure virtual]

ŠÖßƒgƒ‹ƒN‚ÌÝ’è

Implemented in Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, and Spr::PHJointMulti< 3 >.

virtual void Spr::PHJointBase::AddJointTorque ( double v,

int i

) [pure virtual]

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Implemented in Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, and Spr::PHJointMulti< 3 >.

void Spr::PHJointBase::CompCoriolisAccelRecursive ( double dt )

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virtual void Spr::PHJointBase::CompArticulatedInertia ( double dt ) [virtual]

articulated inertia & ZA-force

Reimplemented in Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, and Spr::PHJointMulti< 3 >.

virtual void Spr::PHJointBase::Integrate ( SGScene * scene ) [virtual]

Ï•ª

Reimplemented in Spr::PHJoint1D, Spr::PHJointBall, and Spr::PHJointUniversal.

virtual void Spr::PHJointBase::CalcAccel ( double dt ) [pure virtual]

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ŒÄ‚Ño‚µ‚©‚½D 1. root->CalcCoriolisAccelRecusive(dt); 2. ‘SƒWƒ‡ƒCƒ“ƒg‚É‚Â‚¢‚ÄCPHJointBase::torque ‚É’l‚ð’¼Ú‘ã“ü‚·‚éD 3. root->CalcArticulatedInertia(dt); 4. CalcAccel(dt) 5. ƒWƒ‡ƒCƒ“ƒg‚Ì a ‚©‚ç‰Á‘¬“x‚ð“Ç‚Ýo‚·(À•WŒn‚É’ˆÓ) 6. 2-5‚ðƒgƒ‹ƒNƒpƒ^[ƒ“‚ð•Ï‚¦‚È‚ª‚çŒÄ‚Ño‚·D
Compute accelaration of the child solid of this joint. For partial use of Featherstone's algorithm.
Implemented in Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, and Spr::PHJointMulti< 3 >.
Referenced by Spr::PHJointMulti< 3 >::CalcAccel().

virtual size_t Spr::PHJointBase::NChildObjects ( ) [virtual]

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Reimplemented from Spr::SGObject.

virtual SGObject* Spr::PHJointBase::ChildObject ( size_t i ) [virtual]

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Reimplemented from Spr::SGObject.

virtual size_t Spr::PHJointBase::NReferenceObjects ( ) [virtual]

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Reimplemented from Spr::SGObject.

virtual SGObject* Spr::PHJointBase::ReferenceObject ( size_t i ) [virtual]

ŽQÆ‚µ‚Ä‚¢‚éƒIƒuƒWƒFƒNƒg

Reimplemented from Spr::SGObject.

virtual bool Spr::PHJointBase::AddChildObject ( SGObject * o,

SGScene * s

) [virtual]

ŽqƒIƒuƒWƒFƒNƒg‚Ì’Ç‰Á

Reimplemented from Spr::SGObject.

virtual bool Spr::PHJointBase::DelChildObject ( SGObject * o,

SGScene * s

) [virtual]

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Reimplemented from Spr::SGObject.

virtual const UTTypeInfo** Spr::PHJointBase::ChildCandidates ( ) [virtual]

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Reimplemented from Spr::SGObject.

template<class T>

T& Spr::PHJointBase::OfParent ( T PHJointBase::* member ) [inline, protected]

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Definition at line 198 of file PHJoint.h.
References Spr::UTTreeNode< PHJointBase >::GetParent().
Referenced by Spr::PHJointMulti< 3 >::CalcAccel(), Spr::PHJointMulti< 3 >::CompArticulatedInertia(), and Spr::PHJointMulti< 3 >::PreIntegrate().

void Spr::PHJointBase::PropagateState ( ) [protected]

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virtual void Spr::PHJointBase::Reset ( ) [protected, virtual]

Žp¨‚È‚Ç‚ÌÄÝ’è ”ñÄ‹A Šî–{“I‚Èó‘Ô—Ê(PHJointState‚Ì“à—e)‚ªLoaded‚âLoadState‚ÅƒZƒbƒg‚³‚ê‚½Œã‚ÉA ]‘®•Ï”‚ðŒvŽZ‚·‚é‚½‚ß‚ÌŠÖ”
Reimplemented in Spr::PHJoint1D, Spr::PHJointMulti< NDOF >, Spr::PHJointMulti< 2 >, and Spr::PHJointMulti< 3 >.

Member Data Documentation

UTTypeInfoImpAbst< PHJointBase > Spr::PHJointBase::typeInfo [static]

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Reimplemented from Spr::SGObject.
Reimplemented in Spr::PHJoint1D, Spr::PHJointHinge, Spr::PHJointSlider, Spr::PHJointBall, and Spr::PHJointUniversal.
Definition at line 59 of file PHJoint.h.

enum Spr::PHJointBase::IntType Spr::PHJointBase::intType

Ï•ª‚Ì•û–@D Method of solver

UTRef<PHSolid> Spr::PHJointBase::solid

ŽqSolidDŠÖß‚ÍeSolid‚ÆŽqSolid‚ð‚Â‚È‚®

Definition at line 66 of file PHJoint.h.
Referenced by GetSolidAccel(), and GetSolidAngularAccel().

UTRef<SGFrame> Spr::PHJointBase::frame

ƒ‹[ƒgƒm[ƒh‚ªŒÅ’è‚Ìê‡‚ÌFrame

Definition at line 67 of file PHJoint.h.

Matrix3d Spr::PHJointBase::cRj

3x3‰ñ“]s—ñ rotation matrix(Fp to Fjp, Fc to Fjc)

Definition at line 92 of file PHJoint.h.
Referenced by GetPostureFromChild().

Vec3d Spr::PHJointBase::crj

•ÀiƒxƒNƒgƒ‹ radius vector(Fp to Fjp in Fp, Fc to Fjc in Fc)

Definition at line 93 of file PHJoint.h.
Referenced by GetPostureFromChild().

Vec3d Spr::PHJointBase::prc [protected]

•ÀiƒxƒNƒgƒ‹ radius vector(Fp to Fc in Fc)

Definition at line 96 of file PHJoint.h.

Matrix3d Spr::PHJointBase::cRp [protected]

3x3‰ñ“]s—ñ rotation matrix(Fp to Fc, Fc to Fp)

Definition at line 97 of file PHJoint.h.

Matrix3d Spr::PHJointBase::R [protected]

orientation matrix

Definition at line 98 of file PHJoint.h.
Referenced by GetOrientation().

Quaterniond Spr::PHJointBase::quat [protected]

orientation quaternion

Definition at line 99 of file PHJoint.h.

Vec3d Spr::PHJointBase::p [protected]

position vector

Definition at line 100 of file PHJoint.h.

Vec3d Spr::PHJointBase::v_abs [protected]

velocity in Fc/world coord.

Definition at line 101 of file PHJoint.h.
Referenced by GetSolidVelocity().

Vec3d Spr::PHJointBase::w_abs [protected]

angular velocity in Fc/world coord.

Definition at line 102 of file PHJoint.h.
Referenced by GetSolidAngularVelocity().

Vec3d Spr::PHJointBase::pwc [protected]

[angular]velocity relative to Fp in Fc coord.

Definition at line 103 of file PHJoint.h.

SpMatrix6d Spr::PHJointBase::Ii [protected]

spatial isolated inertia

Definition at line 104 of file PHJoint.h.

SpMatrix6d Spr::PHJointBase::Ia [protected]

spatial articulated inertia

Definition at line 105 of file PHJoint.h.

SpVec6d Spr::PHJointBase::Za [protected]

zero accelaration force in Fc coord.

Definition at line 106 of file PHJoint.h.

SpVec6d Spr::PHJointBase::c [protected]

Coriolis vector in Fc coord.

Definition at line 107 of file PHJoint.h.

SpVec6d Spr::PHJointBase::a [protected]

spatial accelaration in Fc coord.

Definition at line 108 of file PHJoint.h.
Referenced by GetSolidAccel(), and GetSolidAngularAccel().

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

PHJoint.h

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