Spr::PHJointMulti< NDOF > Class Template Reference

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#include <PHJointMulti.h>

Inherits Spr::PHJointBase.

Collaboration diagram for Spr::PHJointMulti< NDOF >:

[legend]List of all members.

Public Member Functions

• void AddTorque (AVec t)
• void SetTorque (AVec t)
• AVec GetTorque ()
• AVec GetVelocity ()
• virtual int GetJointDof ()
• virtual double GetJointVelocity (int i)
• virtual double GetJointAccel (int i)
• virtual double GetJointTorque (int i)
• virtual void SetJointTorque (double v, int i)
• virtual void AddJointTorque (double v, int i)
• void CompArticulatedInertia (double dt)
• void PreIntegrate (SGScene *scene)
• void CalcAccel (double dt)

Public Attributes

• AVec torque
• AVec accel
• AVec delta_position
• AVec velocity

Protected Member Functions

• virtual void Reset ()

Protected Attributes

• SMat S
• SMatTr S_tr
• PTM::TMatrixCol< NDOF, NDOF,
  double > Iss

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Detailed Description

template<int NDOF>
class Spr::PHJointMulti< NDOF >

‘¼Ž©—R“x‚ÌŠÖ�ß‚ÌŠî–{ƒNƒ‰ƒX

Definition at line 10 of file PHJointMulti.h.

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Member Function Documentation

template<int NDOF> void Spr::PHJointMulti< NDOF >::AddTorque (  AVec  t  )  [inline]

ƒgƒ‹ƒN‚ð’ljÁ Definition at line 17 of file PHJointMulti.h.

template<int NDOF> void Spr::PHJointMulti< NDOF >::SetTorque (  AVec  t  )  [inline]

ƒgƒ‹ƒN‚ð�Ý’è Definition at line 18 of file PHJointMulti.h.

template<int NDOF> AVec Spr::PHJointMulti< NDOF >::GetTorque (   )  [inline]

ƒgƒ‹ƒN‚ðŽæ“¾ Definition at line 19 of file PHJointMulti.h.

template<int NDOF> AVec Spr::PHJointMulti< NDOF >::GetVelocity (   )  [inline]

ŠÖ�ß‘¬“x‚ðŽæ“¾ Definition at line 20 of file PHJointMulti.h.

template<int NDOF> virtual int Spr::PHJointMulti< NDOF >::GetJointDof (   )  [inline, virtual]

ŠÖ�ß‚ÌŽ©—R“x Implements Spr::PHJointBase. Definition at line 22 of file PHJointMulti.h.

template<int NDOF> virtual double Spr::PHJointMulti< NDOF >::GetJointVelocity (  int  i  )  [inline, virtual]

ŠÖ�ß‘¬“x‚̎擾 Implements Spr::PHJointBase. Definition at line 24 of file PHJointMulti.h.

template<int NDOF> virtual double Spr::PHJointMulti< NDOF >::GetJointAccel (  int  i  )  [inline, virtual]

ŠÖ�߉Á‘¬“x‚̎擾 Implements Spr::PHJointBase. Definition at line 26 of file PHJointMulti.h.

template<int NDOF> virtual double Spr::PHJointMulti< NDOF >::GetJointTorque (  int  i  )  [inline, virtual]

ŠÖ�߃gƒ‹ƒN‚̎擾 Implements Spr::PHJointBase. Definition at line 28 of file PHJointMulti.h.

template<int NDOF> virtual void Spr::PHJointMulti< NDOF >::SetJointTorque (  double  v, int  i )  [inline, virtual]

ŠÖ�߃gƒ‹ƒN‚Ì�Ý’è Implements Spr::PHJointBase. Definition at line 30 of file PHJointMulti.h.

template<int NDOF> virtual void Spr::PHJointMulti< NDOF >::AddJointTorque (  double  v, int  i )  [inline, virtual]

ŠÖ�߃gƒ‹ƒN‚ð‰Á‚¦‚é Implements Spr::PHJointBase. Definition at line 32 of file PHJointMulti.h.

template<int NDOF> void Spr::PHJointMulti< NDOF >::CompArticulatedInertia (  double  dt  )  [inline, virtual]

articulated inertia & ZA-force Reimplemented from Spr::PHJointBase. Definition at line 34 of file PHJointMulti.h.

template<int NDOF> void Spr::PHJointMulti< NDOF >::PreIntegrate (  SGScene *  scene  )  [inline]

”h�¶ƒNƒ‰ƒX‚ÌIntegrate() ‚ªŒÄ‚Ñ�o‚·ŠÖ�”�D ”h�¶ƒNƒ‰ƒX‚ÌIntegrate()‚Ì—á�F void Integrate(double dt){ PreIntegrate(dt); ‚±‚±‚Å�Cdelta_position ‚©‚ç�CŠÖ�ß‚ÌŽp�¨‚ðŒvŽZ�D PropagateState(); PHJointBase::Integrate(dt); } Definition at line 55 of file PHJointMulti.h.

template<int NDOF> void Spr::PHJointMulti< NDOF >::CalcAccel (  double  dt  )  [inline, virtual]

< ‚±‚̃Wƒ‡ƒCƒ“ƒg‚̉Á‘¬“xŒvŽZ�D�Ú�ׂ͊î–{ƒNƒ‰ƒX‚̃Rƒ�ƒ“ƒg‚ðŽQ�Æ�D Implements Spr::PHJointBase. Definition at line 88 of file PHJointMulti.h.

template<int NDOF> virtual void Spr::PHJointMulti< NDOF >::Reset (   )  [inline, protected, virtual]

Žp�¨‚È‚Ç‚Ì�Ä�Ý’è ”ñ�Ä‹A Šî–{“I‚È�ó‘Ô—Ê(PHJointState‚Ì“à—e)‚ªLoaded‚âLoadState‚ŃZƒbƒg‚³‚ꂽŒã‚É�A �]‘®•Ï�”‚ðŒvŽZ‚·‚邽‚ß‚ÌŠÖ�” Reimplemented from Spr::PHJointBase. Definition at line 102 of file PHJointMulti.h.

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Member Data Documentation

template<int NDOF> AVec Spr::PHJointMulti< NDOF >::torque

ƒgƒ‹ƒN Definition at line 13 of file PHJointMulti.h.

template<int NDOF> AVec Spr::PHJointMulti< NDOF >::accel

ŠÖ�߉Á‘¬“x Definition at line 14 of file PHJointMulti.h.

template<int NDOF> AVec Spr::PHJointMulti< NDOF >::delta_position

•ÏˆÊ‚Ì•Ï•ª Definition at line 15 of file PHJointMulti.h.

template<int NDOF> AVec Spr::PHJointMulti< NDOF >::velocity

‘¬“x Definition at line 16 of file PHJointMulti.h.

template<int NDOF> SMat Spr::PHJointMulti< NDOF >::S [protected]

spatial joint axis in Fc coord. Definition at line 99 of file PHJointMulti.h.

template<int NDOF> SMatTr Spr::PHJointMulti< NDOF >::S_tr [protected]

S' S‚Ì“ÆŽ©‚Ì“]’n. Definition at line 100 of file PHJointMulti.h.

template<int NDOF> PTM::TMatrixCol<NDOF, NDOF, double> Spr::PHJointMulti< NDOF >::Iss [protected]

S'IaS ‚̃LƒƒƒbƒVƒ…. Definition at line 101 of file PHJointMulti.h.

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

• PHJointMulti.h

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