MobilizedBody::Pin Class Reference

#include <MobilizedBody.h>

Inheritance diagram for MobilizedBody::Pin:

List of all members.

---

Detailed Description

One mobility -- rotation about the common z axis of the inboard and outboard mobilizer frames.

Synonym: Torsion

Public Member Functions
Pin &	setDefaultAngle (Real angleInRadians)
Real	getDefaultAngle () const
void	setAngle (State &s, Real angleInRadians)
Real	getAngle (const State &s) const
void	setRate (State &s, Real rateInRadiansPerTime)
Real	getRate (const State &s) const
Real	getAppliedPinTorque (const State &s, const Vector &mobilityForces) const
void	applyPinTorque (const State &s, Real torque, Vector &mobilityForces) const
	Pin ()
	Pin (MobilizedBody &parent, const Body &)
	Pin (MobilizedBody &parent, const Transform &inbFrame, const Body &, const Transform &outbFrame)
Pin &	setDefaultQ (Real)
Real	getDefaultQ () const
Real	getQ (const State &) const
Real	getQDot (const State &) const
Real	getQDotDot (const State &) const
Real	getU (const State &) const
Real	getUDot (const State &) const
void	setQ (State &, Real) const
void	setU (State &, Real) const
Real	getMyPartQ (const State &, const Vector &qlike) const
Real	getMyPartU (const State &, const Vector &ulike) const
Real &	updMyPartQ (const State &, Vector &qlike) const
Real &	updMyPartU (const State &, Vector &ulike) const
Pin &	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.
Pin &	addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.
Pin &	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.
Pin &	setDefaultInboardFrame (const Transform &X_PF)
	Change this mobilizer's frame F on the parent body P.
Pin &	setDefaultOutboardFrame (const Transform &X_BM)
	Change this mobilizer's frame M fixed on this (the outboard) body B.
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Pin, PinImpl, MobilizedBody)

---

Constructor & Destructor Documentation

Pin

(

)

Pin	(	MobilizedBody &	parent,
		const Body &
	)

Pin	(	MobilizedBody &	parent,
		const Transform &	inbFrame,
		const Body &	,
		const Transform &	outbFrame
	)

---

Member Function Documentation

Pin& setDefaultAngle

(

Real

angleInRadians

)

[inline]

Real getDefaultAngle

(

)

const [inline]

void setAngle	(	State &	s,
		Real	angleInRadians
	)			[inline]

Real getAngle

(

const State &

s

)

const [inline]

void setRate	(	State &	s,
		Real	rateInRadiansPerTime
	)			[inline]

Real getRate

(

const State &

s

)

const [inline]

Real getAppliedPinTorque	(	const State &	s,
		const Vector &	mobilityForces
	)			const [inline]

void applyPinTorque	(	const State &	s,
		Real	torque,
		Vector &	mobilityForces
	)			const [inline]

Pin& setDefaultQ

(

Real

)

Real getDefaultQ

(

)

const

Real getQ

(

const State &

)

const

Real getQDot

(

const State &

)

const

Real getQDotDot

(

const State &

)

const

Real getU

(

const State &

)

const

Real getUDot

(

const State &

)

const

void setQ	(	State &	,
		Real
	)			const

void setU	(	State &	,
		Real
	)			const

Real getMyPartQ	(	const State &	,
		const Vector &	qlike
	)			const

Real getMyPartU	(	const State &	,
		const Vector &	ulike
	)			const

Real& updMyPartQ	(	const State &	,
		Vector &	qlike
	)			const

Real& updMyPartU	(	const State &	,
		Vector &	ulike
	)			const

Pin& 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().

Pin& 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().

Pin& 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().

Pin& setDefaultInboardFrame

(

const Transform &

X_PF

)

[inline]

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().

Pin& setDefaultOutboardFrame

(

const Transform &

X_BM

)

[inline]

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().

SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	Pin	,
		PinImpl	,
		MobilizedBody
	)

---

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

• MobilizedBody.h