PUBLIC

SegDynaTC::SegDynaTC(JointT) SegDynaTC::SegDynaTC(JointT,const Vector3dC &,BooleanT) SegDynaTC::SegDynaTC(const HomtmC &,JointT) SegDynaTC::SegDynaTC(const SegDynaTC &) SegDynaTC::operator=(const SegDynaTC &) SegDynaTC::~SegDynaTC(void) SegDynaTC::SetHomtm(JointT,const Vector3dC &,BooleanT) SegDynaTC::SetHomtm(JointT,const HomtmC &) SegDynaTC::GetHomtm(void) const SegDynaTC::GetJtype(void) const SegDynaTC::SetJtypeBall(void)

SegDynaTC
include	"amma/AMSegment.hh"
User Level:	Default
Library:	AMWorld
Example:	amtool.cc
Section:	Applications.Articulated models
In Scope:	std

Comments:
----------------------------------------------------------------------------- SegDynaTC The Euler angles are lost by storng as a homtm, but it seems that they can be accurately computed when needed. -----------------------------------------------------------------------------

SegDynaTC(JointT _jtype = RXRYRZ)

SegDynaTC(JointT t,const Vector3dC & angles,BooleanT premult)

SegDynaTC(const HomtmC & _homtm,JointT _jtype = RXRYRZ)

SegDynaTC(const SegDynaTC & s)

SegDynaTC & operator=(const SegDynaTC & s)

~SegDynaTC()

void SetRotX(double t); void SetRotY(double t); void SetRotZ(double t); Set angle, only allowed for particular cases

void SetHomtm(JointT t,const Vector3dC & angles,BooleanT premult)

sets the value in homtm, checks that JointT is consistent

void SetHomtm(JointT t,const HomtmC & _homtm)

sets the value in homtm, checks that JointT is consistent

HomtmC GetHomtm() const

gives the value in homtm

JointT GetJtype() const

gives the value in jtype

void SetJtypeBall()

on exit joint is RXRYRZ if it was 1 or 2 dof joint if it was either JNULL or more than 2dof joint, it remains the same