MobilizedBody::Ball Class Reference
#include <MobilizedBody.h>
Detailed Description
Three mobilities -- unrestricted orientation modeled with a quaternion which is never singular.A modeling option allows the joint to use a 1-2-3 Euler sequence (identical to a Gimbal) instead.
Public Member Functions | |
| Ball () | |
| Ball (MobilizedBody &parent, const Body &) | |
| By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp. | |
| Ball (MobilizedBody &parent, const Transform &inbFrame, const Body &, const Transform &outbFrame) | |
| Use this constructor to specify mobilizer frames which are not coincident with the body frames. | |
| Ball & | addBodyDecoration (const Transform &X_BD, const DecorativeGeometry &g) |
| Add decorative geometry specified relative to the new (outboard) body's reference frame B, or to the outboard mobilizer frame M attached to body B, or to the inboard mobilizer frame F attached to the parent body P. | |
| Ball & | addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g) |
| Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B. | |
| Ball & | addInboardDecoration (const Transform &X_FD, const DecorativeGeometry &g) |
| Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent body P. | |
| Ball & | setDefaultInboardFrame (const Transform &X_PF) |
| Change this mobilizer's frame F on the parent body P. | |
| Ball & | setDefaultOutboardFrame (const Transform &X_BM) |
| Change this mobilizer's frame M fixed on this (the outboard) body B. | |
| Ball & | setDefaultRotation (const Rotation &R_FM) |
| Rotation | getDefaultRotation () const |
| Ball & | setDefaultRadius (Real r) |
| Real | getDefaultRadius () const |
| const Quaternion & | getDefaultQ () const |
| Ball & | setDefaultQ (const Quaternion &q) |
| const Vec4 & | getQ (const State &) const |
| const Vec4 & | getQDot (const State &) const |
| const Vec4 & | getQDotDot (const State &) const |
| const Vec3 & | getU (const State &) const |
| const Vec3 & | getUDot (const State &) const |
| void | setQ (State &, const Vec4 &) const |
| void | setU (State &, const Vec3 &) const |
| const Vec4 & | getMyPartQ (const State &, const Vector &qlike) const |
| const Vec3 & | getMyPartU (const State &, const Vector &ulike) const |
| Vec4 & | updMyPartQ (const State &, Vector &qlike) const |
| Vec3 & | updMyPartU (const State &, Vector &ulike) const |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Ball, BallImpl, MobilizedBody) | |
Constructor & Destructor Documentation
| Ball | ( | ) | [explicit] |
| Ball | ( | MobilizedBody & | parent, | |
| const Body & | ||||
| ) |
By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp.
| Ball | ( | MobilizedBody & | parent, | |
| const Transform & | inbFrame, | |||
| const Body & | , | |||
| const Transform & | outbFrame | |||
| ) |
Use this constructor to specify mobilizer frames which are not coincident with the body frames.
Member Function Documentation
| Ball& addBodyDecoration | ( | const Transform & | X_BD, | |
| const DecorativeGeometry & | g | |||
| ) | [inline] |
Add decorative geometry specified relative to the new (outboard) body's reference frame B, or to the outboard mobilizer frame M attached to body B, or to the inboard mobilizer frame F attached to the parent body P.
Note that the body itself may already have had some decorative geometry on it when it was first put into this MobilizedBody; in that case this just adds more.
Reimplemented from MobilizedBody.
References MobilizedBody::addBodyDecoration().
| Ball& addOutboardDecoration | ( | const Transform & | X_MD, | |
| const DecorativeGeometry & | ||||
| ) | [inline] |
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.
If body B already has decorative geometry on it, this just adds some more.
Reimplemented from MobilizedBody.
References MobilizedBody::addOutboardDecoration().
| Ball& addInboardDecoration | ( | const Transform & | X_FD, | |
| const DecorativeGeometry & | ||||
| ) | [inline] |
Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent body P.
If body P already has decorative geometry on it, this just adds some more.
Reimplemented from MobilizedBody.
References MobilizedBody::addInboardDecoration().
Change this mobilizer's frame F on the parent body P.
Calling this method invalidates the MobilizedBody's topology, so the containing matter subsystem's realizeTopology() method must be called again. A reference to this MobilizedBody is returned so that this can be chained like an assignment operator.
Reimplemented from MobilizedBody.
References MobilizedBody::setDefaultInboardFrame().
Change this mobilizer's frame M fixed on this (the outboard) body B.
Calling this method invalidates the MobilizedBody's topology, so the containing matter subsystem's realizeTopology() method must be called again. A reference to this MobilizedBody is returned so that this can be chained like an assignment operator.
Reimplemented from MobilizedBody.
References MobilizedBody::setDefaultOutboardFrame().
References Rotation::convertRotationToQuaternion().
| Rotation getDefaultRotation | ( | ) | const [inline] |
| Ball& setDefaultRadius | ( | Real | r | ) |
| Real getDefaultRadius | ( | ) | const |
| const Quaternion& getDefaultQ | ( | ) | const |
| Ball& setDefaultQ | ( | const Quaternion & | q | ) |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS | ( | Ball | , | |
| BallImpl | , | |||
| MobilizedBody | ||||
| ) |
The documentation for this class was generated from the following file:
