SimTK::Constraint::CoordinateCoupler Class Reference

This is a subclass of Constraint::Custom which uses a Function object to define a holonomic (position) constraint. More...

#include <Constraint.h>

Inheritance diagram for SimTK::Constraint::CoordinateCoupler:

List of all members.

Public Member Functions
	CoordinateCoupler (SimbodyMatterSubsystem &matter, const Function *function, const Array_< MobilizedBodyIndex > &coordBody, const Array_< MobilizerQIndex > &coordIndex)
	Create a CoordinateCoupler.
	CoordinateCoupler (SimbodyMatterSubsystem &matter, const Function *function, const std::vector< MobilizedBodyIndex > &coordBody, const std::vector< MobilizerQIndex > &coordIndex)
	For compatibility with std::vector; no copying is done.

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Detailed Description

This is a subclass of Constraint::Custom which uses a Function object to define a holonomic (position) constraint.

You provide a Function which takes some subset of the system's generalized coordinates as arguments, and returns a single value. It also must support partial derivatives up to second order. The constraint enforces that the value of the function should equal 0 at all times.

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Constructor & Destructor Documentation

SimTK::Constraint::CoordinateCoupler::CoordinateCoupler	(	SimbodyMatterSubsystem &	matter,
		const Function *	function,
		const Array_< MobilizedBodyIndex > &	coordBody,
		const Array_< MobilizerQIndex > &	coordIndex
	)

Create a CoordinateCoupler.

You specify a Function and a list of generalized coordinates to pass to it as arguments. Each generalized coordinate is specified by a MobilizedBody and the index of the coordinate within that body. For example matter.getMobilizedBody(bodies[2]).getOneQ(state, coordinates[2]) will be passed to the function as the value of the second argument.

Parameters:

matter	the matter subsystem this constraint will be added to
function	the Function whose value should equal 0 at all times. The constraint takes over ownership of this object, and automatically deletes in when the constraint is deleted.
coordBody	the MobilizedBody corresponding to each generalized coordinate that should be passed as a function argument
coordIndex	the index corresponding to each generalized coordinate that should be passed as a function argument

SimTK::Constraint::CoordinateCoupler::CoordinateCoupler	(	SimbodyMatterSubsystem &	matter,
		const Function *	function,
		const std::vector< MobilizedBodyIndex > &	coordBody,
		const std::vector< MobilizerQIndex > &	coordIndex
	)		[inline]

For compatibility with std::vector; no copying is done.

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

• Constraint.h