/usr/include/kido/dynamics/UniversalJoint.hpp is in libkido-dev 0.1.0+dfsg-2build9.
This file is owned by root:root, with mode 0o644.
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* 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_UNIVERSALJOINT_HPP_
#define KIDO_DYNAMICS_UNIVERSALJOINT_HPP_
#include <string>
#include <Eigen/Dense>
#include "kido/dynamics/MultiDofJoint.hpp"
namespace kido {
namespace dynamics {
/// class UniversalJoint
class UniversalJoint : public MultiDofJoint<2>
{
public:
friend class Skeleton;
struct UniqueProperties
{
std::array<Eigen::Vector3d,2> mAxis;
UniqueProperties(const Eigen::Vector3d& _axis1 = Eigen::Vector3d::UnitX(),
const Eigen::Vector3d& _axis2 = Eigen::Vector3d::UnitY());
virtual ~UniqueProperties() = default;
};
struct Properties : MultiDofJoint<2>::Properties,
UniversalJoint::UniqueProperties
{
Properties(const MultiDofJoint<2>::Properties& _multiDofProperties =
MultiDofJoint<2>::Properties(),
const UniversalJoint::UniqueProperties& _universalProperties =
UniversalJoint::UniqueProperties());
virtual ~Properties() = default;
};
UniversalJoint(const UniversalJoint&) = delete;
/// Destructor
virtual ~UniversalJoint();
/// Set the Properties of this UniversalJoint
void setProperties(const Properties& _properties);
/// Set the Properties of this UniversalJoint
void setProperties(const UniqueProperties& _properties);
/// Get the Properties of this UniversalJoint
Properties getUniversalJointProperties() const;
/// Copy the Properties of another UniversalJoint
void copy(const UniversalJoint& _otherJoint);
/// Copy the Properties of another UniversalJoint
void copy(const UniversalJoint* _otherJoint);
/// Copy the Properties of another UniversalJoint
UniversalJoint& operator=(const UniversalJoint& _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 setAxis1(const Eigen::Vector3d& _axis);
///
void setAxis2(const Eigen::Vector3d& _axis);
///
const Eigen::Vector3d& getAxis1() const;
///
const Eigen::Vector3d& getAxis2() const;
// Documentation inherited
Eigen::Matrix<double, 6, 2> getLocalJacobianStatic(
const Eigen::Vector2d& _positions) const override;
protected:
/// Constructor called by Skeleton class
UniversalJoint(const Properties& _properties);
// Documentation inherited
virtual Joint* clone() const override;
using MultiDofJoint::getLocalJacobianStatic;
// Documentation inherited
virtual void updateDegreeOfFreedomNames() override;
// Documentation inherited
virtual void updateLocalTransform() const override;
// Documentation inherited
virtual void updateLocalJacobian(bool =true) const override;
// Documentation inherited
virtual void updateLocalJacobianTimeDeriv() const override;
protected:
/// UniversalJoint Properties
UniqueProperties mUniversalP;
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_UNIVERSALJOINT_HPP_
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