SimTK::Constraint::NoSlip1D Class Reference

One non-holonomic constraint equation. More...

#include <Constraint.h>

Inheritance diagram for SimTK::Constraint::NoSlip1D:

List of all members.

Public Member Functions
	NoSlip1D (MobilizedBody &caseBodyC, const Vec3 &P_C, const UnitVec3 &n_C, MobilizedBody &movingBody0, MobilizedBody &movingBody1)
NoSlip1D &	setDirectionDisplayLength (Real)
NoSlip1D &	setPointDisplayRadius (Real)
Real	getDirectionDisplayLength () const
Real	getPointDisplayRadius () const
NoSlip1D &	setDefaultDirection (const UnitVec3 &)
NoSlip1D &	setDefaultContactPoint (const Vec3 &)
MobilizedBodyIndex	getCaseMobilizedBodyIndex () const
MobilizedBodyIndex	getMovingBodyMobilizedBodyIndex (int which) const
const UnitVec3 &	getDefaultDirection () const
const Vec3 &	getDefaultContactPoint () const
const UnitVec3 &	getDirection (const State &) const
const Vec3 &	getContactPoint (const State &) const
Real	getVelocityError (const State &) const
Real	getAccelerationError (const State &) const
Real	getMultiplier (const State &) const
Real	getForceAtContactPoint (const State &) const
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (NoSlip1D, NoSlip1DImpl, Constraint)

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Detailed Description

One non-holonomic constraint equation.

There is a contact point P and a no-slip direction n fixed in a case body C. There are two moving bodies B0 and B1. The material point of B0 and the material point of B1 which are each coincident with the contact point P must have identical velocities in C, along the direction n. This can be used to implement simple rolling contact between disks, such as occurs in gear trains.

The assembly condition is the same as the run-time constraint: the velocities must be made to match.

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Constructor & Destructor Documentation

SimTK::Constraint::NoSlip1D::NoSlip1D	(	MobilizedBody &	caseBodyC,
		const Vec3 &	P_C,
		const UnitVec3 &	n_C,
		MobilizedBody &	movingBody0,
		MobilizedBody &	movingBody1
	)

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Member Function Documentation

NoSlip1D& SimTK::Constraint::NoSlip1D::setDirectionDisplayLength

(

Real

)

NoSlip1D& SimTK::Constraint::NoSlip1D::setPointDisplayRadius

(

Real

)

Real SimTK::Constraint::NoSlip1D::getDirectionDisplayLength

(

)

const

Real SimTK::Constraint::NoSlip1D::getPointDisplayRadius

(

)

const

NoSlip1D& SimTK::Constraint::NoSlip1D::setDefaultDirection

(

const UnitVec3 &

)

NoSlip1D& SimTK::Constraint::NoSlip1D::setDefaultContactPoint

(

const Vec3 &

)

MobilizedBodyIndex SimTK::Constraint::NoSlip1D::getCaseMobilizedBodyIndex

(

)

const

MobilizedBodyIndex SimTK::Constraint::NoSlip1D::getMovingBodyMobilizedBodyIndex

(

int

which

)

const

const UnitVec3& SimTK::Constraint::NoSlip1D::getDefaultDirection

(

)

const

const Vec3& SimTK::Constraint::NoSlip1D::getDefaultContactPoint

(

)

const

const UnitVec3& SimTK::Constraint::NoSlip1D::getDirection

(

const State &

)

const

const Vec3& SimTK::Constraint::NoSlip1D::getContactPoint

(

const State &

)

const

Real SimTK::Constraint::NoSlip1D::getVelocityError

(

const State &

)

const

Real SimTK::Constraint::NoSlip1D::getAccelerationError

(

const State &

)

const

Real SimTK::Constraint::NoSlip1D::getMultiplier

(

const State &

)

const

Real SimTK::Constraint::NoSlip1D::getForceAtContactPoint

(

const State &

)

const

SimTK::Constraint::NoSlip1D::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	NoSlip1D	,
		NoSlip1DImpl	,
		Constraint
	)

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

• Constraint.h