MobilizedBody::FunctionBased Class Reference

#include <MobilizedBody.h>

Inheritance diagram for MobilizedBody::FunctionBased:

List of all members.

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Detailed Description

This is a subclass of MobilizedBody::Custom which uses a set of Function objects to define the behavior of the MobilizedBody.

When you create it, you specify the number of generalized coordinates, and six Functions which calculate the spatial rotations and translations based on those coordinates. It assumes there is a one to one correspondence between generalized coordinates and generalized speeds, so qdot == u.

Each of the Function objects must take some subset of the generalized coordinates as inputs, and produce a single number as its output. It also must support derivatives up to second order. Taken together, the six Functions define a SpatialVec giving the body's mobilizer transform.

Public Member Functions
	FunctionBased (MobilizedBody &parent, const Body &body, int nmobilities, const std::vector< const Function< 1 > * > &functions, const std::vector< std::vector< int > > &coordIndices)
	FunctionBased (MobilizedBody &parent, const Transform &inbFrame, const Body &body, const Transform &outbFrame, int nmobilities, const std::vector< const Function< 1 > * > &functions, const std::vector< std::vector< int > > &coordIndices)
	FunctionBased (MobilizedBody &parent, const Body &body, int nmobilities, const std::vector< const Function< 1 > * > &functions, const std::vector< std::vector< int > > &coordIndices, const std::vector< Vec3 > &axes)
	FunctionBased (MobilizedBody &parent, const Transform &inbFrame, const Body &body, const Transform &outbFrame, int nmobilities, const std::vector< const Function< 1 > * > &functions, const std::vector< std::vector< int > > &coordIndices, const std::vector< Vec3 > &axes)

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Constructor & Destructor Documentation

FunctionBased	(	MobilizedBody &	parent,
		const Body &	body,
		int	nmobilities,
		const std::vector< const Function< 1 > * > &	functions,
		const std::vector< std::vector< int > > &	coordIndices
	)

FunctionBased	(	MobilizedBody &	parent,
		const Transform &	inbFrame,
		const Body &	body,
		const Transform &	outbFrame,
		int	nmobilities,
		const std::vector< const Function< 1 > * > &	functions,
		const std::vector< std::vector< int > > &	coordIndices
	)

FunctionBased	(	MobilizedBody &	parent,
		const Body &	body,
		int	nmobilities,
		const std::vector< const Function< 1 > * > &	functions,
		const std::vector< std::vector< int > > &	coordIndices,
		const std::vector< Vec3 > &	axes
	)

FunctionBased	(	MobilizedBody &	parent,
		const Transform &	inbFrame,
		const Body &	body,
		const Transform &	outbFrame,
		int	nmobilities,
		const std::vector< const Function< 1 > * > &	functions,
		const std::vector< std::vector< int > > &	coordIndices,
		const std::vector< Vec3 > &	axes
	)

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The documentation for this class was generated from the following file:

• MobilizedBody.h