libkido-dev 0.1.0+dfsg-2build9 / usr / include / kido / dynamics / ScrewJoint.hpp

This file is indexed.

/usr/include/kido/dynamics/ScrewJoint.hpp is in libkido-dev 0.1.0+dfsg-2build9.

This file is owned by root:root, with mode 0o644.

The actual contents of the file can be viewed below. 

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
/*
 * Copyright (c) 2013-2015, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author(s): Jeongseok Lee <jslee02@gmail.com>
 *
 * Georgia Tech Graphics Lab and Humanoid Robotics Lab
 *
 * Directed by Prof. C. Karen Liu and Prof. Mike Stilman
 * <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef KIDO_DYNAMICS_SCREWJOINT_HPP_
#define KIDO_DYNAMICS_SCREWJOINT_HPP_

#include <string>

#include <Eigen/Dense>

#include "kido/dynamics/SingleDofJoint.hpp"

namespace kido {
namespace dynamics {

/// class ScrewJoint
class ScrewJoint : public SingleDofJoint
{
public:

  friend class Skeleton;

  struct UniqueProperties
  {
    /// Rotational axis
    Eigen::Vector3d mAxis;

    /// Translational pitch
    double mPitch;

    UniqueProperties(const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ(),
                     double _pitch = 0.1);

    virtual ~UniqueProperties() = default;
  };

  struct Properties : SingleDofJoint::Properties,
                      ScrewJoint::UniqueProperties
  {
    Properties(
        const SingleDofJoint::Properties& _singleDofProperties =
                                              SingleDofJoint::Properties(),
        const ScrewJoint::UniqueProperties& _screwProperties =
                                              ScrewJoint::UniqueProperties());
    virtual ~Properties() = default;
  };

  ScrewJoint(const ScrewJoint&) = delete;

  /// Destructor
  virtual ~ScrewJoint();

  /// Set the Properties of this ScrewJoint
  void setProperties(const Properties& _properties);

  /// Set the Properties of this ScrewJoint
  void setProperties(const UniqueProperties& _properties);

  /// Get the Properties of this ScrewJoint
  Properties getScrewJointProperties() const;

  /// Copy the Properties of another ScrewJoint
  void copy(const ScrewJoint& _otherJoint);

  /// Copy the Properties of another ScrewJoint
  void copy(const ScrewJoint* _otherJoint);

  /// Copy the Properties of another ScrewJoint
  ScrewJoint& operator=(const ScrewJoint& _otherJoint);

  // Documentation inherited
  virtual const std::string& getType() const override;

  /// Get joint type for this class
  static const std::string& getStaticType();

  // Documentation inherited
  virtual bool isCyclic(size_t _index) const override;

  ///
  void setAxis(const Eigen::Vector3d& _axis);

  ///
  const Eigen::Vector3d& getAxis() const;

  ///
  void setPitch(double _pitch);

  ///
  double getPitch() const;

protected:

  /// Constructor called by Skeleton class
  ScrewJoint(const Properties& _properties);

  // Documentation inherited
  virtual Joint* clone() const override;

  // Documentation inherited
  virtual void updateLocalTransform() const override;

  // Documentation inherited
  virtual void updateLocalJacobian(bool _mandatory=true) const override;

  // Documentation inherited
  virtual void updateLocalJacobianTimeDeriv() const override;

protected:

  /// ScrewJoint Properties
  UniqueProperties mScrewP;

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace dynamics
}  // namespace kido

#endif  // KIDO_DYNAMICS_SCREWJOINT_HPP_

APT Browse - Built by Thomas Orozco.