SimTK::MobilizedBody::Screw Class Reference

One mobility -- coordinated rotation and translation along the common z axis of the inboard and outboard mobilizer frames. More...

#include <MobilizedBody.h>

Inheritance diagram for SimTK::MobilizedBody::Screw:

List of all members.

Public Member Functions
	Screw (Real pitch, Direction=Forward)
	Screw (MobilizedBody &parent, const Body &, Real pitch, Direction=Forward)
	By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp.
	Screw (MobilizedBody &parent, const Transform &inbFrame, const Body &, const Transform &outbFrame, Real pitch, Direction=Forward)
	Use this constructor to specify mobilizer frames which are not coincident with the body frames.
Screw &	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.
Screw &	addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.
Screw &	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.
Screw &	setDefaultInboardFrame (const Transform &X_PF)
	Change this mobilizer's frame F on the parent body P.
Screw &	setDefaultOutboardFrame (const Transform &X_BM)
	Change this mobilizer's frame M fixed on this (the outboard) body B.
Screw &	setDefaultPitch (Real pitch)
Real	getDefaultPitch () const
Screw &	setDefaultQ (Real)
Real	getDefaultQ () const
Real	getQ (const State &) const
Real	getQDot (const State &) const
Real	getQDotDot (const State &) const
Real	getU (const State &) const
Real	getUDot (const State &) const
void	setQ (State &, Real) const
void	setU (State &, Real) const
Real	getMyPartQ (const State &, const Vector &qlike) const
Real	getMyPartU (const State &, const Vector &ulike) const
Real &	updMyPartQ (const State &, Vector &qlike) const
Real &	updMyPartU (const State &, Vector &ulike) const
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Screw, ScrewImpl, MobilizedBody)

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Detailed Description

One mobility -- coordinated rotation and translation along the common z axis of the inboard and outboard mobilizer frames.

A "pitch" is specified relating the two. The generalized coordinate q is the rotation angle in radians, the translation is always pitch*q.

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Constructor & Destructor Documentation

SimTK::MobilizedBody::Screw::Screw	(	Real	pitch,
		Direction	= Forward
	)		[explicit]

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

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

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Member Function Documentation

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::setDefaultPitch

(

Real

pitch

)

Real SimTK::MobilizedBody::Screw::getDefaultPitch

(

)

const

Screw& SimTK::MobilizedBody::Screw::setDefaultQ

(

Real

)

Real SimTK::MobilizedBody::Screw::getDefaultQ

(

)

const

Real SimTK::MobilizedBody::Screw::getQ

(

const State &

)

const

Real SimTK::MobilizedBody::Screw::getQDot

(

const State &

)

const

Real SimTK::MobilizedBody::Screw::getQDotDot

(

const State &

)

const

Real SimTK::MobilizedBody::Screw::getU

(

const State &

)

const

Real SimTK::MobilizedBody::Screw::getUDot

(

const State &

)

const

void SimTK::MobilizedBody::Screw::setQ	(	State &	,
		Real
	)		const

void SimTK::MobilizedBody::Screw::setU	(	State &	,
		Real
	)		const

Real SimTK::MobilizedBody::Screw::getMyPartQ	(	const State &	,
		const Vector &	qlike
	)		const

Real SimTK::MobilizedBody::Screw::getMyPartU	(	const State &	,
		const Vector &	ulike
	)		const

Real& SimTK::MobilizedBody::Screw::updMyPartQ	(	const State &	,
		Vector &	qlike
	)		const

Real& SimTK::MobilizedBody::Screw::updMyPartU	(	const State &	,
		Vector &	ulike
	)		const

SimTK::MobilizedBody::Screw::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	Screw	,
		ScrewImpl	,
		MobilizedBody
	)

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

• MobilizedBody.h