Simbody
Public Member Functions

SimTK::MobilizedBody::Planar Class Reference

Three mobilities -- z rotation and x,y translation. More...

#include <MobilizedBody.h>

Inheritance diagram for SimTK::MobilizedBody::Planar:

List of all members.

Public Member Functions

 Planar (Direction=Forward)
 Planar (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.
 Planar (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.
PlanaraddBodyDecoration (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.
PlanaraddOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g)
 Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.
PlanaraddInboardDecoration (const Transform &X_FD, const DecorativeGeometry &g)
 Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent body P.
PlanarsetDefaultInboardFrame (const Transform &X_PF)
 Change this mobilizer's frame F on the parent body P.
PlanarsetDefaultOutboardFrame (const Transform &X_BM)
 Change this mobilizer's frame M fixed on this (the outboard) body B.
PlanarsetDefaultAngle (Real a)
PlanarsetDefaultTranslation (const Vec2 &r)
Real getDefaultAngle () const
const Vec2getDefaultTranslation () const
void setAngle (State &s, Real a)
void setTranslation (State &s, const Vec2 &r)
Real getAngle (const State &s) const
const Vec2getTranslation (const State &s) const
const Vec3getDefaultQ () const
PlanarsetDefaultQ (const Vec3 &q)
const Vec3getQ (const State &) const
const Vec3getQDot (const State &) const
const Vec3getQDotDot (const State &) const
const Vec3getU (const State &) const
const Vec3getUDot (const State &) const
void setQ (State &, const Vec3 &) const
void setU (State &, const Vec3 &) const
const Vec3getMyPartQ (const State &, const Vector &qlike) const
const Vec3getMyPartU (const State &, const Vector &ulike) const
Vec3updMyPartQ (const State &, Vector &qlike) const
Vec3updMyPartU (const State &, Vector &ulike) const
 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Planar, PlanarImpl, MobilizedBody)

Detailed Description

Three mobilities -- z rotation and x,y translation.

The generalized coordinates are rotation about the shared z axis of the F and M frame, translation along the F frame's x axis, and translation along its y axis, in that order.


Constructor & Destructor Documentation

SimTK::MobilizedBody::Planar::Planar ( 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::Planar::Planar ( 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.


Member Function Documentation

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::setDefaultAngle ( Real  a) [inline]
Planar& SimTK::MobilizedBody::Planar::setDefaultTranslation ( const Vec2 r) [inline]
Real SimTK::MobilizedBody::Planar::getDefaultAngle ( ) const [inline]
const Vec2& SimTK::MobilizedBody::Planar::getDefaultTranslation ( ) const [inline]
void SimTK::MobilizedBody::Planar::setAngle ( State s,
Real  a 
) [inline]
void SimTK::MobilizedBody::Planar::setTranslation ( State s,
const Vec2 r 
) [inline]
Real SimTK::MobilizedBody::Planar::getAngle ( const State s) const [inline]
const Vec2& SimTK::MobilizedBody::Planar::getTranslation ( const State s) const [inline]
const Vec3& SimTK::MobilizedBody::Planar::getDefaultQ ( ) const
Planar& SimTK::MobilizedBody::Planar::setDefaultQ ( const Vec3 q)
const Vec3& SimTK::MobilizedBody::Planar::getQ ( const State ) const
const Vec3& SimTK::MobilizedBody::Planar::getQDot ( const State ) const
const Vec3& SimTK::MobilizedBody::Planar::getQDotDot ( const State ) const
const Vec3& SimTK::MobilizedBody::Planar::getU ( const State ) const
const Vec3& SimTK::MobilizedBody::Planar::getUDot ( const State ) const
void SimTK::MobilizedBody::Planar::setQ ( State ,
const Vec3  
) const
void SimTK::MobilizedBody::Planar::setU ( State ,
const Vec3  
) const
const Vec3& SimTK::MobilizedBody::Planar::getMyPartQ ( const State ,
const Vector qlike 
) const
const Vec3& SimTK::MobilizedBody::Planar::getMyPartU ( const State ,
const Vector ulike 
) const
Vec3& SimTK::MobilizedBody::Planar::updMyPartQ ( const State ,
Vector qlike 
) const
Vec3& SimTK::MobilizedBody::Planar::updMyPartU ( const State ,
Vector ulike 
) const
SimTK::MobilizedBody::Planar::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS ( Planar  ,
PlanarImpl  ,
MobilizedBody   
)

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