SimTK::Constraint::PointInPlane Class Reference

One constraint equation. More...

#include <Constraint.h>

Inheritance diagram for SimTK::Constraint::PointInPlane:

List of all members.

Public Member Functions
	PointInPlane (MobilizedBody &planeBody_B, const UnitVec3 &defaultPlaneNormal_B, Real defaultHeight, MobilizedBody &followerBody_F, const Vec3 &defaultFollowerPoint_F)
PointInPlane &	setPlaneDisplayHalfWidth (Real)
PointInPlane &	setPointDisplayRadius (Real)
Real	getPlaneDisplayHalfWidth () const
Real	getPointDisplayRadius () const
PointInPlane &	setDefaultPlaneNormal (const UnitVec3 &)
PointInPlane &	setDefaultPlaneHeight (Real)
PointInPlane &	setDefaultFollowerPoint (const Vec3 &)
MobilizedBodyIndex	getPlaneMobilizedBodyIndex () const
MobilizedBodyIndex	getFollowerMobilizedBodyIndex () const
const UnitVec3 &	getDefaultPlaneNormal () const
Real	getDefaultPlaneHeight () const
const Vec3 &	getDefaultFollowerPoint () const
const UnitVec3 &	getPlaneNormal (const State &) const
Real	getPlaneHeight (const State &) const
const Vec3 &	getFollowerPoint (const State &) const
Real	getPositionError (const State &) const
Real	getVelocityError (const State &) const
Real	getAccelerationError (const State &) const
Real	getMultiplier (const State &) const
Real	getForceOnFollowerPoint (const State &) const
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (PointInPlane, PointInPlaneImpl, Constraint)

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Detailed Description

One constraint equation.

This constraint enforces that a point fixed to one body (the "follower body") must travel in a plane fixed on another body (the "plane body"). The constraint is enforced by an internal (non-working) scalar force acting at the spatial location of the follower point, directed along the plane normal, and equal and opposite on the two bodies.

The assembly condition is the same as the run-time constraint: the point has to be moved into the plane.

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Constructor & Destructor Documentation

SimTK::Constraint::PointInPlane::PointInPlane	(	MobilizedBody &	planeBody_B,
		const UnitVec3 &	defaultPlaneNormal_B,
		Real	defaultHeight,
		MobilizedBody &	followerBody_F,
		const Vec3 &	defaultFollowerPoint_F
	)

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Member Function Documentation

PointInPlane& SimTK::Constraint::PointInPlane::setPlaneDisplayHalfWidth

(

Real

)

PointInPlane& SimTK::Constraint::PointInPlane::setPointDisplayRadius

(

Real

)

Real SimTK::Constraint::PointInPlane::getPlaneDisplayHalfWidth

(

)

const

Real SimTK::Constraint::PointInPlane::getPointDisplayRadius

(

)

const

PointInPlane& SimTK::Constraint::PointInPlane::setDefaultPlaneNormal

(

const UnitVec3 &

)

PointInPlane& SimTK::Constraint::PointInPlane::setDefaultPlaneHeight

(

Real

)

PointInPlane& SimTK::Constraint::PointInPlane::setDefaultFollowerPoint

(

const Vec3 &

)

MobilizedBodyIndex SimTK::Constraint::PointInPlane::getPlaneMobilizedBodyIndex

(

)

const

MobilizedBodyIndex SimTK::Constraint::PointInPlane::getFollowerMobilizedBodyIndex

(

)

const

const UnitVec3& SimTK::Constraint::PointInPlane::getDefaultPlaneNormal

(

)

const

Real SimTK::Constraint::PointInPlane::getDefaultPlaneHeight

(

)

const

const Vec3& SimTK::Constraint::PointInPlane::getDefaultFollowerPoint

(

)

const

const UnitVec3& SimTK::Constraint::PointInPlane::getPlaneNormal

(

const State &

)

const

Real SimTK::Constraint::PointInPlane::getPlaneHeight

(

const State &

)

const

const Vec3& SimTK::Constraint::PointInPlane::getFollowerPoint

(

const State &

)

const

Real SimTK::Constraint::PointInPlane::getPositionError

(

const State &

)

const

Real SimTK::Constraint::PointInPlane::getVelocityError

(

const State &

)

const

Real SimTK::Constraint::PointInPlane::getAccelerationError

(

const State &

)

const

Real SimTK::Constraint::PointInPlane::getMultiplier

(

const State &

)

const

Real SimTK::Constraint::PointInPlane::getForceOnFollowerPoint

(

const State &

)

const

SimTK::Constraint::PointInPlane::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	PointInPlane	,
		PointInPlaneImpl	,
		Constraint
	)

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

• Constraint.h