Biomechanical Joint Model  Author: Anderson Maciel

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comeplanejoint.cpp

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/***************************************************************************
 *   Copyright (C) 2001 by Anderson Maciel                                 *
 *   andi.maciel@gmail.com                                                 *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 **************************************************************************/

//
//  PROJECT.....: 
//  RESPONSIBLE.: 
//
//  FILE........: come_planejoint.cpp
//  DESCRIPTION.: 
//
//  AUTHOR......: Anderson Maciel
//  DATE........: May/16/2001
//  DESCRIPTION.: Methods implementation.
//

#include        <stdio.h>
#include        <kinematics/comeplanejoint.h>
#include        <kinematics/comedof.h>

COME_PlaneJoint::COME_PlaneJoint( void ):COME_Joint(){

        setParent( NULL );
        COME_Dof *d1 = new COME_Dof( COME_Vector3D( 0, 0, 1 ), COME_Point3D(), new COME_Bezier() );
        COME_Dof *d2 = new COME_Dof( COME_Vector3D( 1, 0, 0 ), COME_Point3D(), new COME_Bezier() );
        COME_Dof *d3 = new COME_Dof( COME_Vector3D( 0, 1, 0 ), COME_Point3D(), new COME_Bezier() );
        d1->setOwnerJoint( this );
        d2->setOwnerJoint( this );
        d3->setOwnerJoint( this );
        vpAddDof( d1 );
        vpAddDof( d2 );
        vpAddDof( d3 );
        vpMakeLim();
}

COME_PlaneJoint::COME_PlaneJoint( COME_Joint *parent ):COME_Joint(){

        setParent( parent );
        COME_Dof *d1 = new COME_Dof( COME_Vector3D( 0, 0, 1 ), COME_Point3D(), new COME_Bezier() );
        COME_Dof *d2 = new COME_Dof( COME_Vector3D( 1, 0, 0 ), COME_Point3D(), new COME_Bezier() );
        COME_Dof *d3 = new COME_Dof( COME_Vector3D( 0, 1, 0 ), COME_Point3D(), new COME_Bezier() );
        d1->setOwnerJoint( this );
        d2->setOwnerJoint( this );
        d3->setOwnerJoint( this );
        vpAddDof( d1 );
        vpAddDof( d2 );
        vpAddDof( d3 );
        vpMakeLim();
}

COME_PlaneJoint::COME_PlaneJoint( COME_Joint *parent, COME_Dof *dof1, COME_Dof *dof2, COME_Dof *dof3 ):COME_Joint(){

        setParent( parent );
        dof1->setOwnerJoint( this );
        dof2->setOwnerJoint( this );
        dof3->setOwnerJoint( this );
        vpAddDof( dof1 );
        vpAddDof( dof2 );
        vpAddDof( dof3 );
        vpMakeLim();
}


void
COME_PlaneJoint::setXSlideTo( double value ){

        getDofList()[0]->vpMoveTo( value );
        vpMakeLim();
}

void
COME_PlaneJoint::setYSlideTo( double value ){

        getDofList()[1]->vpMoveTo( value );
        vpMakeLim();
}

void
COME_PlaneJoint::setZSlideTo( double value ){

        getDofList()[2]->vpMoveTo( value );
        vpMakeLim();
}

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