SimTK::Constraint::PointOnLine Class Reference

Two constraint equations. More...

#include <Constraint.h>

Inheritance diagram for SimTK::Constraint::PointOnLine:

List of all members.

Public Member Functions
	PointOnLine (MobilizedBody &lineBody_B, const UnitVec3 &defaultLineDirection_B, const Vec3 &defaultPointOnLine_B, MobilizedBody &followerBody_F, const Vec3 &defaultFollowerPoint_F)
PointOnLine &	setLineDisplayHalfLength (Real)
PointOnLine &	setPointDisplayRadius (Real)
Real	getLineDisplayHalfLength () const
Real	getPointDisplayRadius () const
PointOnLine &	setDefaultLineDirection (const UnitVec3 &)
PointOnLine &	setDefaultPointOnLine (const Vec3 &)
PointOnLine &	setDefaultFollowerPoint (const Vec3 &)
MobilizedBodyIndex	getLineMobilizedBodyIndex () const
MobilizedBodyIndex	getFollowerMobilizedBodyIndex () const
const UnitVec3 &	getDefaultLineDirection () const
const Vec3 &	getDefaultPointOnLine () const
const Vec3 &	getDefaultFollowerPoint () const
const UnitVec3 &	getLineDirection (const State &) const
const Vec3 &	getPointOnLine (const State &) const
const Vec3 &	getFollowerPoint (const State &) const
Vec2	getPositionErrors (const State &) const
Vec2	getVelocityErrors (const State &) const
Vec2	getAccelerationErrors (const State &) const
Vec2	getMultipliers (const State &) const
const Vec2 &	getForceOnFollowerPoint (const State &) const
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (PointOnLine, PointOnLineImpl, Constraint)

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Detailed Description

Two constraint equations.

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

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Constructor & Destructor Documentation

SimTK::Constraint::PointOnLine::PointOnLine	(	MobilizedBody &	lineBody_B,
		const UnitVec3 &	defaultLineDirection_B,
		const Vec3 &	defaultPointOnLine_B,
		MobilizedBody &	followerBody_F,
		const Vec3 &	defaultFollowerPoint_F
	)

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Member Function Documentation

PointOnLine& SimTK::Constraint::PointOnLine::setLineDisplayHalfLength

(

Real

)

PointOnLine& SimTK::Constraint::PointOnLine::setPointDisplayRadius

(

Real

)

Real SimTK::Constraint::PointOnLine::getLineDisplayHalfLength

(

)

const

Real SimTK::Constraint::PointOnLine::getPointDisplayRadius

(

)

const

PointOnLine& SimTK::Constraint::PointOnLine::setDefaultLineDirection

(

const UnitVec3 &

)

PointOnLine& SimTK::Constraint::PointOnLine::setDefaultPointOnLine

(

const Vec3 &

)

PointOnLine& SimTK::Constraint::PointOnLine::setDefaultFollowerPoint

(

const Vec3 &

)

MobilizedBodyIndex SimTK::Constraint::PointOnLine::getLineMobilizedBodyIndex

(

)

const

MobilizedBodyIndex SimTK::Constraint::PointOnLine::getFollowerMobilizedBodyIndex

(

)

const

const UnitVec3& SimTK::Constraint::PointOnLine::getDefaultLineDirection

(

)

const

const Vec3& SimTK::Constraint::PointOnLine::getDefaultPointOnLine

(

)

const

const Vec3& SimTK::Constraint::PointOnLine::getDefaultFollowerPoint

(

)

const

const UnitVec3& SimTK::Constraint::PointOnLine::getLineDirection

(

const State &

)

const

const Vec3& SimTK::Constraint::PointOnLine::getPointOnLine

(

const State &

)

const

const Vec3& SimTK::Constraint::PointOnLine::getFollowerPoint

(

const State &

)

const

Vec2 SimTK::Constraint::PointOnLine::getPositionErrors

(

const State &

)

const

Vec2 SimTK::Constraint::PointOnLine::getVelocityErrors

(

const State &

)

const

Vec2 SimTK::Constraint::PointOnLine::getAccelerationErrors

(

const State &

)

const

Vec2 SimTK::Constraint::PointOnLine::getMultipliers

(

const State &

)

const

const Vec2& SimTK::Constraint::PointOnLine::getForceOnFollowerPoint

(

const State &

)

const

SimTK::Constraint::PointOnLine::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	PointOnLine	,
		PointOnLineImpl	,
		Constraint
	)

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

• Constraint.h