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Joint.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_MDL_JOINT_H_
31 #define _RL_MDL_JOINT_H_
32 
33 #include <rl/math/Vector.h>
34 
35 #include "Transform.h"
36 
37 namespace rl
38 {
39  namespace mdl
40  {
41  class Joint : public Transform
42  {
43  public:
44  Joint(const ::std::size_t& dof);
45 
46  virtual ~Joint();
47 
48  void forwardAcceleration();
49 
50  void forwardDynamics1();
51 
52  void forwardDynamics2();
53 
54  void forwardDynamics3();
55 
56  void forwardVelocity();
57 
59 
60  ::std::size_t getDof() const;
61 
63 
65 
67 
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71 
73 
74  void inverseForce();
75 
76  void inverseVelocity1();
77 
78  void inverseVelocity2();
79 
80  void inverseVelocity3();
81 
83 
84  virtual void setPosition(const ::rl::math::Vector& q) = 0;
85 
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119 
120  ::Eigen::Matrix< bool, ::Eigen::Dynamic, 1 > wraparound;
121 
122  protected:
123 
124  private:
125 
126  };
127  }
128 }
129 
130 #endif // _RL_MDL_JOINT_H_