SimTK::MobilizedBody::Free Class Reference

Unrestricted motion for a rigid body (six mobilities). More...

#include <MobilizedBody.h>

Inheritance diagram for SimTK::MobilizedBody::Free:

List of all members.

Public Member Functions
	Free (Direction=Forward)
	Free (MobilizedBody &parent, const Body &, Direction=Forward)
	By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp.
	Free (MobilizedBody &parent, const Transform &inbFrame, const Body &, const Transform &outbFrame, Direction=Forward)
	Use this constructor to specify mobilizer frames which are not coincident with the body frames.
Free &	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.
Free &	addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.
Free &	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.
Free &	setDefaultInboardFrame (const Transform &X_PF)
	Change this mobilizer's frame F on the parent body P.
Free &	setDefaultOutboardFrame (const Transform &X_BM)
	Change this mobilizer's frame M fixed on this (the outboard) body B.
Free &	setDefaultTranslation (const Vec3 &)
Free &	setDefaultQuaternion (const Quaternion &)
Free &	setDefaultRotation (const Rotation &)
Free &	setDefaultTransform (const Transform &)
const Vec3 &	getDefaultTranslation () const
const Quaternion &	getDefaultQuaternion () const
Rotation	getDefaultRotation () const
Transform	getDefaultTransform () const
const Vec7 &	getDefaultQ () const
Free &	setDefaultQ (const Vec7 &q)
const Vec7 &	getQ (const State &) const
const Vec7 &	getQDot (const State &) const
const Vec7 &	getQDotDot (const State &) const
const Vec6 &	getU (const State &) const
const Vec6 &	getUDot (const State &) const
void	setQ (State &, const Vec7 &) const
void	setU (State &, const Vec6 &) const
const Vec7 &	getMyPartQ (const State &, const Vector &qlike) const
const Vec6 &	getMyPartU (const State &, const Vector &ulike) const
Vec7 &	updMyPartQ (const State &, Vector &qlike) const
Vec6 &	updMyPartU (const State &, Vector &ulike) const
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Free, FreeImpl, MobilizedBody)

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Detailed Description

Unrestricted motion for a rigid body (six mobilities).

Orientation is modeled the same as for the Orientation mobilizer, that is, using quaternions to avoid singularities. A modeling option exists to have the joint modeled with a 1-2-3 body fixed Euler sequence like a Gimbal mobilizer. Translational generalized coordinates are x,y,z translations along the F (inboard) axes.

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Constructor & Destructor Documentation

SimTK::MobilizedBody::Free::Free

(

Direction

= Forward

)

[explicit]

SimTK::MobilizedBody::Free::Free	(	MobilizedBody &	parent,
		const Body &	,
		Direction	= Forward
	)

By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp.

SimTK::MobilizedBody::Free::Free	(	MobilizedBody &	parent,
		const Transform &	inbFrame,
		const Body &	,
		const Transform &	outbFrame,
		Direction	= Forward
	)

Use this constructor to specify mobilizer frames which are not coincident with the body frames.

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Member Function Documentation

Free& SimTK::MobilizedBody::Free::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 SimTK::MobilizedBody.

Free& SimTK::MobilizedBody::Free::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 SimTK::MobilizedBody.

Free& SimTK::MobilizedBody::Free::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 SimTK::MobilizedBody.

Free& SimTK::MobilizedBody::Free::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 SimTK::MobilizedBody.

Free& SimTK::MobilizedBody::Free::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 SimTK::MobilizedBody.

Free& SimTK::MobilizedBody::Free::setDefaultTranslation

(

const Vec3 &

)

Free& SimTK::MobilizedBody::Free::setDefaultQuaternion

(

const Quaternion &

)

Free& SimTK::MobilizedBody::Free::setDefaultRotation

(

const Rotation &

)

Free& SimTK::MobilizedBody::Free::setDefaultTransform

(

const Transform &

)

const Vec3& SimTK::MobilizedBody::Free::getDefaultTranslation

(

)

const

const Quaternion& SimTK::MobilizedBody::Free::getDefaultQuaternion

(

)

const

Rotation SimTK::MobilizedBody::Free::getDefaultRotation

(

)

const [inline]

Transform SimTK::MobilizedBody::Free::getDefaultTransform

(

)

const [inline]

const Vec7& SimTK::MobilizedBody::Free::getDefaultQ

(

)

const

Free& SimTK::MobilizedBody::Free::setDefaultQ

(

const Vec7 &

q

)

const Vec7& SimTK::MobilizedBody::Free::getQ

(

const State &

)

const

const Vec7& SimTK::MobilizedBody::Free::getQDot

(

const State &

)

const

const Vec7& SimTK::MobilizedBody::Free::getQDotDot

(

const State &

)

const

const Vec6& SimTK::MobilizedBody::Free::getU

(

const State &

)

const

const Vec6& SimTK::MobilizedBody::Free::getUDot

(

const State &

)

const

void SimTK::MobilizedBody::Free::setQ	(	State &	,
		const Vec7 &
	)		const

void SimTK::MobilizedBody::Free::setU	(	State &	,
		const Vec6 &
	)		const

const Vec7& SimTK::MobilizedBody::Free::getMyPartQ	(	const State &	,
		const Vector &	qlike
	)		const

const Vec6& SimTK::MobilizedBody::Free::getMyPartU	(	const State &	,
		const Vector &	ulike
	)		const

Vec7& SimTK::MobilizedBody::Free::updMyPartQ	(	const State &	,
		Vector &	qlike
	)		const

Vec6& SimTK::MobilizedBody::Free::updMyPartU	(	const State &	,
		Vector &	ulike
	)		const

SimTK::MobilizedBody::Free::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	Free	,
		FreeImpl	,
		MobilizedBody
	)

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

• MobilizedBody.h